I think the trick is keep the distances short. Anchor early before it gets dark and cold. Books, music, movies and cooking. The cabin heater gets regular praise as does the cockpit enclosure.
Carpenter 29, Fri night depart Cocklebay for Blackpool Waiheke, 45 min under motor or sail, any wind condition/direction except a gale.
Blob out all weekend watching netflix, walking the dog, and visiting the irish pub, reverse process and de-blob Sun arvo.
When we are feeling lazy we just sit on the mooring all weekend and pretend.