Pete,
I get back on the boat by grabbing the dolphin striker as it comes over. Then with an arm on the main beam, one on the hull, facing sort of aft and outward, and I can swing a leg up on the hull forward, and scramble onto the hull, and then the tramp.
I've also experienced getting the bows into the wind, but having it reorient by the time I get to the righting line/pole. Not sure what the solution is to that.

Dave