Mark, there has been a guy hawking inflatable fenders for at least the last two or three shows at "Strictly Sail" in Oakland. We will be looking for him when we attend next month, BTW.
They are built like a section of a inflatable dinghy, and can be stored flat/rolled up when not needed. The price seemed high to me, but the allure was undeniable, i.e. having a really "proper size" fender that could be stored away easily.
We have a couple of large round and usually 4 or 5 of the 28" tubular vinyl type filling up the lazarette. Sometimes we need 'em all... and the rest of the time they take up a lot of bulk space that I wish I could allot to storage.
For sailing in protected waters, I cove hitch most of 'em to the stern rails, like a powerboater (!). Offshore we keep the deck as clear as possible.
As a wise Ericson owner once told me: "Everything's a compromise."
Loren