We are in a similar situation. We put a swing over boat rack on the camper with the intention of getting a tinny to take on a big trip, but decided that you then need a fold-up trailer, motor etc and that there might be limited places to actually put a tinny in. So we got kayaks instead, 1 tandem and 1 single. They are good for small creeks, estuaries, lakes and the sea on calms days. Much more family friendly and easier to maneuver than a tinny, so they get used more often, and I still get to do some fishing off them!
The swing over boat rack makes a huge difference though, it would be a pain to have to take them on and off everytime you do a set up.