Spiny Norman said:

They looks like they could use a derivative of the towbarless tug used on airliners.
Just sail up to the capsule, close the jaws on either side and pump the water out of the front to lift the capsule up out of the water.
Then back to the carrier.

https://www.youtube.com/watch?v=WoeKGAWF2Fk

It’s all sort of Boy Scout-ish.