Whether you are on a mooring ball or at anchor, anyone not tied to a marina dock have to use their dinghy to reach shore. (even if their dinghy is a kayak, whatever you have is used)
my dinghy at the dock
Roland 83 and Lettie, still standing at 80 yoa.
at anchor across the harbor
tied to a dock at Faro Blanco Marina (no dinghy needed)
at anchor out in the Gulf of Mexico (a long dinghy ride)