No simple answer, and not one boat.
I had an inflatable floor zodiac tender years ago, was light and did great. Flood took it away. It would roll up and fit in the floor, but a passenger would need to sit on it as part of the seat, (Atlee extended baggage). It was light enough I could move it myself even with the back issues I had at the time.
My replacement was a European made inflatable canoe, but I don't recall the brand... I will look when I get to the shop.
It is about 50 pounds, can hold three people, or one guy and a moose, (just unless it is a small moose). It rolls into a mid sized pack, slightly smaller than a military duffle bag.
If paddling across flat water, she has terrible steering, tends to dart left and right. But in the river is has enough rocker to keep out of the sweepers.
My mission is to kill moose, then be able to pack the boat to the moose, and drift back to the plane. It works great. I took it duck hunting, and can shoot out of it without it rocking bad and sending me and guns to the bottom.
The other advantage is that it's material is heavy duty, and does not puncture easily, but if I ever need to, can be patched.
My buddy has an Alpaca. Loves it, plays all the time in rivers around Anchorage and Fairbanks. He has a spare to carry gear when they go hunting...