sleep on the boat.
all the advice you need is already here. Paco pad across the boat, sheet or towel to pull over me around 3 a.m., tent fly handy if the rain came up. Some of the best sleep I've ever had, even with the patter of water against the boat. I did not like then other boats rubbing against mine, the sound was unnatural and kept me awake til I set up a preventative barrier.
We are here on Earth to do good for others. What the others are here for, I don't know. W.H. Auden