solution for me on my boat ... aft of the shrouds, I "jump" up a little and grab my trap handle. use this to anchor and lift a foot/feet up near the rear beam (least freeboard area) and then lift my waist / torso up using my feet and hands (still on trap handle)
This is what I do too and I'm 52 and sail an F18 and I can get on the boat easily and in short order. The key thing to remember is to move your a$$. If you have a self tacking jib and don't have a quick release system the jib will pull the boat off the wind relatively quickly and the boat will take off like a rocket.
