I've camped both ways in an open 16' Skookum Sealer. We only camped ashore 3 or 4 times. The main issues were
- anchoring the boat so its retrievable [we used a clothesline system but it tangled with kelp, etc]
- dragging camping gear up and down thru slippery intertidal
- finding enough level ground in inlet country
After that, we set up the boat so we could sleep under a tent fly, and secured a Coleman stove to the gunwale. We did well over 200 nights in 10 years - all over the coast - northern Gulf Islands, Renfrew, Bamfield, Clayoquot, Kyuquot, Queen Charlotte Strait and the Broughtons, and 3 trips into Bella Bella and the Central Coast. We chose tiny anchorages and never dragged anchor. Managed to catch a couple of fish, too