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When we had a captain, his niece and nephews were allowed aboard with his sister and brother-in-law on a limited basis - usually when delivering north or south for the season or brief cruises of a few hours or so. Provided the boat was not in use for business purposes (sending customers out on fishing trips or cruises as marketing) or was not supposed to be anywhere else, we viewed it as good employee relations. Carl was happy, the boat was maintained and exercised, and Carl always made sure it was kept in proper order.
The key is limited basis, and with our knowledge. Since we didn't charter (and it seems your boat was not currently in the charter business) it wasn't theft in our eyes. Parents on the boat during a delivery? What costs could possibly have been incurred to make a big deal of it?
The only concern I'd have is whether or not this would fall under charter use for insurance purposes. Liability could be the only issue I'd really be concerned with.
Then again, my upbringing was not to be a nasty, litigious person.
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