The expedition team TEACHES you how to get in and out of the Zodiacs. It is not difficult if done properly. I had a knee replacement in 2015 and I need another one and i did ok.
We took a Canon R5 and A Canon 5D Mark III, and the following lens....EF 100-400 L II, a 24-240, a 24-105, an 85, 35, and 50 prime and flash and a waterproof backback, extra batteries , extra memory cards, card reader and a laptop.