Maybe that qualifies me to give you advice. I broke my hip some years back and it will always be weaker than my unbroken one. Here's how I compensate:
I own only keyhole cockpits. To get in I go to shallow water, straddle the boat, plop the butt in the seat then bring in leg and leg.
To get out I go to shallow water. Bring out leg and leg; USE ARMS TO LIFT AT THE COAMING AND GET BUTT TO THE BACK DECK. Getting my butt up to the back deck lets me get my feet and legs under me to help hoist me out.
I'm doubtful any device is going to help you. Exercises might. Try simulating the motions in your living room. A lot.
Kayak & Canoe Covers
Cartop Kayak Carriers
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