I have fitted a very successful dinghy gantry to the rear of a simple ladder frame targa mounted over the sugar scoop stern of a Bavaria 40.
The targa is bolted in place at two pads onto the stern of the yacht.
The horizontal top section of the targa supports solar panels, communications and wind generator, the wiring being fed through the hollow stainless steel tubing.
Another hoop of stainless hinged half way down the targa forms the gantry under which the dinghy is suspended.
Launching and retrieval is simply a matter of lowering the gantry to the horizontal or until the dinghy floats.
The advantage of a solid bar holding the dinghy in the water fore and aft makes for much easier boarding and control of the dinghy in most seas, especially for children or elderly crew.
The entire unit was designed and made by a stainless steel fabricator here in Brisbane Australia.
I can supply photos.