I haven’t tried this but I find it relatively easy to re-enter a packraft by draping my arms over the side, placing my hands flat on the floor, and then boosting myself up with one big dolphin kick while I push down with my hands – then I sort of flop into the packraft.
Because the air pressure in a packraft is low compared to an inflatable kayak, the side tubes might be a bit too flimsy to be a good pulling point for a handle, but I’m not sure – if you give it a try, please let us know how it goes!