Will the captain/crew stay aboard?
Yes, captain and crew do stay aboard. If you are looking at the cabins and number of guests in a crewed yacht, the crew quarters are usually left out (of the number of cabins). For bareboat/captain only, the crew- captain/stewardess will need somewhere to stay. With captain only- the captain can sometimes (often) sleep in the saloon. Inquire about a specific yacht and we can provide details on the arrangements.
"If you think adventure is dangerous, try routine; it is lethal." ― Paulo Coelho