G'day Andrew power boat trailers do it all the time, I launch with beach rollers but when my 5.8 got terminally beaten up in a storm I got towed to a ramp where I backed as deep as I could go without filling the sail boxes and you wouldnt believe how easy it was to just glide it on, tie it down and drive off, probably 3 minutes retrieval. Off coarse I didnt have to worry about mast, sails etc but thats another story.
regards