If you watch the video again they pull the boat up to the stern so someone can get in than they drive in to Newport harbor.I'm sure if the tender hit the yacht the captain would be swimming home.
That is normal operating procedure. Coming into a leaving every port you have to unhook the tender and drive it in. The big boat slows and then back up to the tender then drop someone on the boat. Tender then speeds ahead to dock and catch lines.
And that is my friend/former roomate Liz at the 38 second mark in the grey sweater on the bow.
We never had a Cig tender on the boat I worked on.