Voyaging is much more about the skipper and crew then the boat. Hell, you can take a raft of reeds and sail through the length of the Solomon chain, from the Galapagos islands if you like, tasting the water as you go instead of a GPS, but it wouldn't be my first recommendation for a cruising vessel, nor a preferred navigation method.
People looking to go to sea in a small boat should do this experiment first. Take an 8' inflatable raft down to the beach and row out into the surf. While rowing to maintain position in the surf, see how long you can tolerate this motion, let alone the waves breaking and filling your little boat. If this seems like no big deal then try a 20' boat in 11' seas and see how this works out for you. My point is, the motion of a small boat in a big sea, will quickly fatigue you. You can't eat, you can't sleep, everything that was on a shelf or in a locker in in a soaked pile on the cabin sole. This stuff is soaked in vomit from unrelenting motion sickness and boarding water. The romantic ideas of a man, boat and sea are a wimpier at the helm, praying for a merciful end to the madness. Seem harsh? It's not and anyone that's been to sea in a small, tough little boat, can attest to their greatest wish is being on a much bigger boat in these conditions.
I guess the point I'm attempting to make is, micro cruising is great until you actually need a real yacht. When I designed Discrete and her big sister, the biggest goal was to develop a package that could take the worst, assuming reasonable skippering and offer the most comfortable ride in the process. This meant the boat wasn't going to be a speed demon, but her motion at sea would let the skipper and crew stay healthy enough, to work their way free of the storm. The wost thing that can happen is the boat's motion and manners, force the crew to huddle in a mass and pray for the end, because they can't do anything with the motion of the boat the way it is. I've been in boats like this in really bad weather and have literally tied myself to the helm, knowing I can steer until I pass out, then it's up to the boat to save me. The reason I elected to take this drastic measure is the boat's motion was so violent, that I couldn't remain seated at the helm, I couldn't eat, use the radio, bath room, nothing. I was able to drink though a straw and figured I could survive 48 hours like this before fatigue took me out.
Go out in a small boat folks and take on a low pressure area or two. See what you can actually tolerate. Even the best of the best will get motion sickness if the movement is bad enough. With me it's up and down, others it's the rolling, but trust me, everyone succumbs, so don't believe the ones that say "not me", 'cause they're BS'ing or have never seen much motion.
After a few *** kickings, you'll find a Cherubini 48 and laugh at the time you thought a Cal 20 was a real sea boat. If you have an opportunity to sail a Cherubini 44 or 48, jump on it. These are some of the finest mid size yachts going. Take one into a big sea and drive her hard, you might have to dog things down, but the motion will permit the crew to continue (possably a level of discomfort to some). Once a sailor experiences this, they realize everything they thought about going to sea was wrong, because you CAN eat cake in the middle of a storm. It's hard to find design that can do this any more, judging by the production offerings, but there are still a few.