As of 1 January 2022, The UK Government has implemented new reporting procedures if you are travelling to and from the Bailiwick to Great Britain and Northern Ireland using your private pleasure craft/vessel.
It's advised that private vessel operators should read and understand the requirements from HM Revenue and Customs, and other applicable agencies e.g. the UK Border Force, before embarking on a journey.
Further and detailed information can be found using this HMRC weblink: Notice 8: sailing your pleasure craft to and from the UK.