Naval 'Landing Craft' are a little simpler. Being nearly flat bottomed and shallow draft, they run up under power to beach themselves. Normally this synchronized with rising or high tide. Their length is sufficient to allow the propellers to remain submerged. Diameters are small in proportion to pitch of common non-planing hulls, and designed for good efficiency run in reverse, allowing the boat to retract unassisted. The draft of course is reduced when troops/ equipment are offloaded. Larger [LCU] craft are equipped with a rear anchor and dedicated winch diesel for longer unloading periods, or when loads are taken on that increase the draft. That anchor, invented for landing craft in WWII, by the way is the 'Danforth', became a fixture in private boats and yachts. It is lightweight, holds securely in a variety of seabeds, and easily is disengaged by backing down on the rode. Fishing Huntington Beach and other areas off CA, with chain heading that rode of approximate boat length, I've anchored securely in rolling swells with scope of near vertical ground tackle; 100' of 1/2'' dacron + 30' feet 1/4'' chain in water at depths of 100-115'.
Anchors have been created in many designs over the centuries, search for perfect tackle continues. That isn't likely, with variations in conditions too many to compensate for. https://en.wikipedia.org/wiki/Anchor#Overview