Sea Eagle TC16 Canoe: Class 4 Inflatable! (Patreon)

You can store this in a closet. It transports much more easily than a traditional canoe. It is Class 4 Whitewater rated. It can carry a ton of cargo & weight with room left over.   The latest version of the TC16 is even lighter.   If you swamp it you just dump out the water and climb back in.   This might be the all around adventure boat you are looking for!