In the days of sail, how did large boats make it in and out of busy ports without powered tugs or other powered assist?

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In the days of sail, how did large boats make it in and out of busy ports without powered tugs or other powered assist?

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sometimes, they used row powered tugboats, or the technique of “warping” , where your boat rows out with the ships anchor, drops it, and you then pull in the anchor chain and pull the ship towards the anchor.
other times you didn’t go alongside a quay, but moored off the shore and used rowboats and barges to move goods and people to the shore.

other times, you were just reliant on the tides of the river or bay to pull you in or out of the harbour, and everyone sailed or entered port at the time the tides allowed you to. Everyone was going the same direction at the same time, which made deconflicting between boats easier.

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