FWIW You can rig up a bungee cord onto the anchor tied off to the stern or bow depending on conditions, nose up to the beach, jump off with a line from the bow, letting the boat float back out. This works great if there are not larges waves about from boats or um waves, as it can push the boat onto the beach, depending on bungee cord length. A good anchor and chain before the bungee cord is important. The bungee cord can be bought or made very easily with knots or a HD sewing machine. I use bungees just like this, but smaller to clip our dive gear off in the water. I tend to tie the bungee into the hollow webbing and sew end loops in, but I have sewn the bungee in place too. I've found the knot helps get my backplate and tank off easier. Might have to make myself a nice long 50 footer that shrinks to 25ft like this one, but with loops on both sides to use knots or soft/hard shackles.
https://www.amazon.com/Marine-Boat-A...00YB65LVC?th=1
Another way is to set an anchor off the beach with a float, and use a pulley system from the float to shore to pull the boat back and forth. This is what I typically do at lakes which can have wakeboard boat wakes.
Either way you are beaching it or coming close temporarily.
After dropping the crew and items, then anchoring offshore, warm water allows swimming in *shrugs* I've been known to bring my drysuit to anchor offshore and swim in.