OP a small motor is the way to go. Can't you paddle away from the beach then use the motor? Have you considered an electic motor? Some of these green winne types go gaga over electric motors and it'd be easier to get by with. It could even be left unmounted until you use it, just lay it on the floor, or tie it off to the side. It won't go fast but you wouldn't need to paddle....as much. Most inflatables have compartments so one hole will not sink you but paddling back would be tiring.
Hi AfterDark, I'm looking at an Intex Mariner 4, which seems to come highly regarded as being better quality than a lot of the other so-called "cheap" inflatable rafts but it's nowhere near an Achilles or Zodiac. Has "floorboards" and an inflatable keel. They can come with motor mounts and an electric motor... How it would do in the ocean is anybody's guess. It would certainly beat paddling however slow. I'm not at all worried about sinking the boat and getting back to shore bc we'll be close enough to swim back. Most of my diving is lobstering off MA. I know you're in RI so you can probably relate to what I'm trying to do. Just trying to get to certain spots that are hard to get to bc it's a long surface swim and certain areas are hard to access. When I was younger, I'd probably do this swim and think nothing of it...
Probably could paddle out away from the beach then use the motor, but then I'd probably already paddled out about half way to where I want to go... Really just trying to keep it simple. I guess my concern is how hard it is for 2 guys to paddle out about a mile on a nice NE day (sunny, warm, 2' seas, wind 5-7mph). I guess the 2 main concerns are wind and current if the paddling is not easy?