It's certainly one of the worst rules to break(we don't fit the rules that well), but I've been doing it for decades now. However, I don't know what your cruising plans would be in that area.

Not only the safety concerns of towing, but what you'll need from the dinghy in range, etc.

Sure you don't want to be towing the wrong type of hard dinghy in conditions you can't foresee. But for what I consider coastal sailing(all I ever do), towing a hard dinghy works well for us. It's easy, simple, and of course, you get to row, which is good for you

(and you can add a small, light, simple gas kicker for more range).