Although I have an inboard diesel, my typical DC demand is like yours. Mostly day sails. When out, its only GPS, Auto-Pilot, Depth Sounder and Knot-Meter. My VHF for day sailing is a hand-held always attached to my PFD (which I always have on). Engine is only used for leaving/returning the berth. And given the short ~1.0 mile each way along the channel = not much charging time by the alternator. I don't have a fridge. All interior lights are LED. The TV/DVD is AC only. So even an overnight out can't deplete the batteries much.
I'm in an AC supplied berth. But I don't connect to the AC unless spending the night and in need of a few creature comforts. I turn on my AC charger only once or so per year just to feel better about the cost of it! Instead, one 20W solar panel and one dual battery controller has kept my two dual purpose group 27 batteries charged fine for five years now. What I want/need is the batteries to be always topped up between my visits to the boat.
From your description, this is is your case as well.
As suggested, read Maine Sail's excellent primers/tutorials on the subject. The price of solar panels has dropped significantly since my 20W purchase. A small sized 30-40 watt panel (which is what I would opt for now for even more re-charging "head-room") will give more than enough to maintain your battery(s) and/or fully recharge it/them over a day or two between sails.
I have read that solar is the best way to maintain a battery. They like to have charge/maintenance voltage (during the day) and then return to natural resting state (during the night). Seems to be working for me. I've also read that today's dedicated AC smart chargers have algorithms to do the same thing. Charge to perfection. Then turn off for a while. Resume when it senses the battery needs some charge again.