Barcelona’s Port Olimpico is home to many small and medium sized sailboats, all of whom spend their lives Med moored. Almost universally they have simple, light, and inexpensive passeral systems. The one above is  our favorite.

It is a ladder with plywood screwed to the rails and rungs, and occasional anti skid strips.

Next favorite, mooring close enough (and not worrying about the consequences of too close).

There are any variations on this theme, most from the bow.