I'm pretty sure that 6m is too big for either of those properties as I recall.
Salcombe's an excellent spot to holiday with a boat but the estuary drys considerably and as far as I know there is no accomodation with all tides access.
You can rent a mooring and use the water taxi (make sure you ask for a deep water mooring (more expensive), the rest are semi drying). We stayed in a riverside cottage up the estuary - my intention was to putt down in my tender - but even that was too difficult with the tides so landed up parking in the town. You can pick up passengers from the main pontoon of course.
Well worth the experience IMO.