I am still irritated why anyone would find it 'dangerous' to enter the water without fins.
As a lake-, seashore- and river diver mostly, I seldom enter the water with the fins strapped on.
Most of the time I walk until I loose contact to the ground and slip on the fins then.
And only if the group is unable to descent without surface communication to the last second, otherwise I start 'descending' in knee-deep water and put on the fins as soon as depth allows to rejoin the group at the bubble check location.
My fins are Mares Avantis with bungee straps and I clip them to a large boltsnap.
Unclip them, catch the neutrally buoyant fins and slip them on one handed.
If I where to loose one, the propulsion of the other is enough (would be, never happened, except for the purpose of testing the theory) to catch it in time, even when river or tide diving with a strong current. I get more careful with zero vis entries, but only because I do not want to buy new fins, not because I would not do the dive with one fin only.
So doing the same from boats was the preferred method from the beginning.
I tried other ways, mostly to reassure backmount dive leaders and helpful crews.
Took me some time to also prefer it from a zodiac. I am not sure If I like that yet, since I haven't tried for a year.
Anyway:
On a dive-boat I help others in front of me and around me with their weight pockets and fins, collect forgotten cameras and lights, get another cold drink and drop in any time I think it is time to decent.
Unclip the mask and fins together, drop mask to the neck on its bungee-strap, slip on the fins, reroute the hoses (and occasionally opening the second tank then) and descent while putting on and rinsing the mask.
Turn on camera, start filming the group from behind.
Has become my routine roughly that way.
I always dive in a drysuit, even in relatively warm water, so buoyancy is never an issue, but I also have to inflate the wing when the water is rough or with strong winds.
Several of my dive partners are faster than me doing the same routine in wetsuits but I never had the chance to really compare on a boat.
As a sidemounter, when you drop into the water you should not have to worry about fins.
Some beginners should worry about their regulators, but when you know your configuration blindly and entanglements have been made impossible even that might seem excessive hassle for some.
In contrast to backmount you are stable and have control of the situation upon entering the water (or should have).
Spreading arms and legs and emptying your lungs is enough to go into a stable descent and wearing fins should be optional anyway.
To me this is an important point in sidemount training:
If you think you are unable to swim back to the surface or even your boat without fins as a sidemounter, there is something wrong with training or the configuration.
Back to the pool. It evidently is possible to do it, so everyone should at least have tried to master it and know his abilities.
It goes without saying, of course: a diver should only enter the water if he is in control of the situation and absolutely sure he is able to complete the dive exactly as he has planed.
But if you are comfortable without fins and are sure you will never loose them the way you use them, why modify a good routine to make it less comfortable to use?