Beam reaching is one of my favorite points of sail since you really have to be on your toes the whole time
Lots of downhaul, both travelers well out, double trapped, and raised boards depending on how much wind there is.
Just be glad you are on an Infusion instead of a Cap or a Wildcat

Getting onboard is not that hard.
You grab the trapeze that enters the frontbeam with both hands, put your leg on the hull and pull yourself up.

Have you installed a righting line "triangle" yet?
We have slid a 5mm line (with a knot at each end) into both sides of the front beam groove, it is held tight by some bungy so it doesnt drag in the water while sailing.