I lift mine all the time with the 3 points. That IS what they're there for. I'm usually launching at a sailing venue with a hoist, and I'd rather keep the trailer out of the salt water whenever possible. I emailed Avon and they gave me the lengths. Zodiac USA wanted an insane amount of $$ for a harness, once they got around to replying. Do a search of the board, I posted the info on lengths here somewhere...
I simply put long eye splices into 1/2" (5/8"? 3/4"? can't remember) nylon three strand dock line, and "luggage tag" attach to the lifting eyes (put the loop through the lifting eye, then the other end through the loop). I'll probably redo them at some point this season with 12 strand Vectran or Dyneema (now that I know how to put an eye splice in it
), maybe with a big ring in the center of the three, with heavy duty stainless Wichard snaps to attach to the boat if I want to spend $$ and get fancy. The nylon dock line was cheap and easy, but the aft ones do stretch quite a bit as the boat lifts. I'd shorten the afts a few inches, or lengthen the forward 4"-6" if using the nylon line. I doesn't concern me from a safety standpoint, but it throws the balance off a bit. The SWL of the line is sufficient that one line could handle multiple 5.4's.
I like New England Ropes V-12 Vectran. 6mm=7500lb tensile strength, 8mm=11,500 lb, 10mm=16,880 lb.
Alternately I'd go for New England Ropes Endura 12 Dyneema: 5mm=5800 lb tensile strength, 6mm=8500lb, 8mm=13,300lb.
Choose your safety margin vs. cost...