Like most things in life reality often shows stark contrast to our dreams. I, ve lived on yachts and barges for fairly extended periods.
Emptying toilets, worrying about weather, cold, leeshores, breakdowns (especially catostraphic ones on modern yachts, Google "Cheeky Rafiki") , locking off/onto tidal/River flows, navigation, finding moorings, berths, stupid pricing, MoB routines, shipping lanes, insurance, stupid crew members and incompetent boat users.(I have lost count of number of Yachts returned with Water tanks full of diesel and vice versa by experienced, qualified sailors(and seen my fair share of boats moored up tight in emptying locks), corrupt marine surveyors (yes, they exist),biased, racist officials (yes, they also exist).
King Charles once said, and its so true. There are two days you enjoy Yachts. The day you buy it and the day you sell it. If you want to sail and experience best sailing experience there is. Go windsurfing and stick it in garage when not in use. Yachting freedom is an illusion,an expensive dangerous one. Barges only marginally better.
My most intimidating experience was aboard a barge, locking off river Trent. You must approach lock entrance from down stream. We, d had a delay on river (not our fault), by which time there was a 3kt flow. Our top speed was about 6..River was choppy, we had inches of freeboard. I actually thought we would sink. Doesn't sound so bad but that's the thing with boats. It never does.