Getting in and out of rubber boats??

Hello fellow travelers - I am considering this trip but am not sure about how hard it is to get in and out of those zodiacs? We are looking at other cruises where you just "cruise' and don't get to actually put your feet on the ice and I think going "ashore" would be way cooler but my hubby is not thrilled about getting in and out of those boats - any thoughts you could share would be appreciated! Thanks!!
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