We use an 8' Portabote on our 35' boat. We also have used it on our 25' boat. We store it on deck folded against the stanchions when sailing any distances up on the Great Lakes, but also tow it if it isn't too far between anchorages (like when we're up in the North Channel). We power it with a 2.5 hp Lehr outboard. It doesn't plane with a motor that small, but it moves it just fine and is much quicker than rowing. The pluses of the Portabote are its weight, the ability to stow it on deck, nothing to puncture, and it rows well. The minuses are that it is a bit cumbersome to assemble on deck and hoist in and out with a halyard (though it doesn't take any more than 15 minutes to do this), and it's ugly.
I don't think any dinghy solution is ideal, except on a larger boat as mentioned above...maybe with a garage door in the transom and a jet ski inside. That kinda large, I'll never see, so it's just looking for the best compromise. We've also used an inflatable kayak on some trips instead and actually prefer that sometimes, but a kayak doesn't make a good dinghy for hauling the stuff to shore we like to travel with like foldup bikes,etc. The Portabote with an outboard has been the closest to "ideal" (albeit and ugly ideal) for us on the size boats we have. For your use (4 adults) you'd have to go with a larger model, but that wouldn't complicate things much.