FWIW:
A true tender is not registered and can only be used 'ship-shore.' This is legal in NH. Take a look at the Mount Washington. That little skimmer is a tender. It carries the mother-ships registration followed by "-1" to indicate it is tender #1 for that vessel.
If the little boat were registered it would be a launch and you can do what you like with it.
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I can't remember if it's a law here but you my not be legal to leave an anchored boat unattended. You'll want to check on that. What might get you some grief is anchoring in a congested area. If you try this, I suggest you 'park' a good distance away along the shore and not in the traveled areas.
Good luck!
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