with my sea lion. The boat just really doesn't seem to mind being completely upside down. Either I'm really top-heavy or the hull just wasn't designed for this. Rolling up was something I learned pretty quickly, so it hasn't been much of a concern.
I saw someone during a rolling class in an old Arluk III and the damn thing just didn't capsize - it just lay on its side like a ripe banana (it WAS bright yellow) and went no further. The design had lots of rocker and decent volume at stem and stern, so it just did not want to capsize like a decent boat should :). I tried the boat and was able to simply hip snap it to vertical, slide my torso over the rear deck, and then sit upright, all without a paddle.
So design is a definitely a factor. If you have the flexability and a boat that allows a balance brace, a case can be made that all you really need is immersion protection and you're never too far from an easy recovery (as long as the hull is intact or isn't shipping water).
Pull-Up Strap Handle Kit
Hardshell Kayak Sail Rigs
Classic Freestanding Rack
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