Yacht racing is getting a bit of a bagging here.

I am not one for racing myself but I do like to sail fast. I am sure for the number of "bad" racing skippers there is an equal or greater number of "good" racing skippers and crew.
From what he has posted on Seabreeze I am sure poodle and his crew on This Way Up are harmonious and have a ton of fun. Maybe he would like to chime in here, hey poods.

You would suppose that any kind of sailing, be it racing or cruising, is done for the purpose of recreation, enjoyment and fun. If one finds himself on a yacht where the behaviour aboard makes life unpleasant and not fun, the only sensible thing to do is not to go back for seconds.
I crewed on a yacht in Auckland that belonged to a work colleague who I got along well with at work and on a couple of weekend cruises and was invited to join him and three others on a 6 month cruise from Auckland to Tonga, Fiji and back. Within a week he turned into a right rude and nasty Captain Bligh but 5 of us on a 35 footer was too many. I bailed out after about three weeks and was lucky enough to score a crew spot on a racing style 43 footer from Tonga to Fiji and back to Sydney. The other young guy on board also bailed out not long after I did.
My point is that intolerable situations don't just happen on racing yachts. The delivery cruise I did north from Lake Macquarie on Second Wind with MorningBird and HaveFun was extremely pleasant from a social point of view and made the three of us good mates. The sailing was horrible because we only got about 2 hours in during the six day passage.

I am looking forward to sailing with them on their yachts at some point in the future.

The reasons it worked so well for us I believe are, 1. We are each yacht owners. 2. None of us was declared skipper though I as owner and therefore responsible for the others, reserved final authority in matters of safety. 3. We set our ground rules (or should I say water rules) before we left. and 4. We each knew to keep our heads pulled in on personal opinions etc. for the common good of the voyage.
Like I said, no one was declared skipper but we had a sailing master, chief engineer, navigation officer, entertainment officer, purser/victualling officer, chief cook and bottle washer and last but not least a cabin boy.

Understanding what the rules are before the ship leaves the dock is essential. Then there can be no surprises.