Bonjour
For me the most important issue is to be able to clip the harness while INSIDE the hull.
During the Jester Challenge on a Figaro 1 a pointy with several headsails, spinnaker...
I used to live with my harness clipped day and night : the dangerous event is when you have to go on deck after something unsuspected went wrong.
I had a double tether a long one to be inside (clipped at the companion way) and the short one at helm or working on deck. I added to the hull on both side a rope, swinging to the hull on which I could clip the short tether once overboard to be able to reach the stern and the safety ladder. In addition I had permanently a knife around the neck to be able to cut the long tether.
But Jester Challenge by the North route neither the Figaro 1 in racing mode should not really be considered as a cruising reference.
I also had on board a safety suit TPS (cotten) that I used once.
https://www.qwant.com/?client=brz-moz&t=videos&q=sauvetage+escofier+&o=0%3AU0-gIoBaNEc
It's the only safety suit that you may wear before. It is as confortable as an oilskin, the gloves are separated and the incorporated water tight socks are compatible with the sea boots. It has being developed in collaboration with the Vendée Globe skippers.
Eric