This can only happen of course after you have completed a boating safety class and a safety orientation. This will not be a problem for you if you are already certified to sail a boat and know how to use all the equipment like charts, compass and GPS on board.
The other option is to join a boat club. Unlike part time sharing, you don’t get to own a boat. But as a member, you are entitled to up to 4 advanced reservations at any given time and access to powerboats or to sailboats that are up to 30 feet in length. The club for its part will shoulder all the other expenses such as maintenance, cleaning, storage and insurance.
There are many of then around so you won’t have a hard time choosing one. Some cater to one market while others cater to all. They also offer boating classes for those who want to do this for fun or commit themselves in the sport.
Adventure sailing vacation is truly better when you own the yacht as the only thing you have to do is drive on over to the docks, stow your gear on board and then sail off into the sunset.