I board from both stern and side. When the water is flat, I come up the stern since I have a boarding ladder and aft platform. Once you start getting any notable wave action and that becomes untenable.
While in Europe I found an inflatable two step ladder that works much better than id expected from looking at it. I just tried to find it here and only find something similar out of Canada - I think..
This works as both a fender and a boarding ladder. I found 2 steps for the amount of freeboard on my boat to be good, but I might try to find one with 3 steps eventually. My boat has a lot of freeboard...
These allow you to position them anywhere that is convenient along the side for boarding.
dj