I have launched at Hope Cove
IIRC there is a harbour master and launching fee.
Its very popular in the summer, and parking a car can be tricky let alone a trailer.
I launched off the slipway at the end of the village but was a chew
getting people to move off the slipway while trying to reverse the trailer down it!
There are a few submerged rocks to watch out for.
The harbour master will let you know where they are.
Also pick your day as the slipway is not protected and gets some wave action
when the wind is up, which can make recovery a little interesting.
If I was in your position, I wouldn't launch anything other
than a SIB at Hope Cove, and would take a RIB to Batson creek in Salcombe
to launch and then just take the boat round to Hope Cove.
Its a great part of the world though - am sure you will have fun.