Kids, Kids,
The boat in video is a Zodiac F-470, Combat Rubber Raiding Craft. Whether or not it has removable aluminum floor boards or soft rubber boards, depends on which type of outboard motor is mounted. The west coast guys use 55HP, east coast 35HP, both use the 35 during sub ops and stuff like amphibs like you see in the video. As far as RHIBs and NSW go, only the SBT guys have true RHIBs, 10 meter was the last incarnation I was aware of, I'm surer they have bigger and better since I left.
All the services SOF forces use them, with some variations. You'll likely never see that type of exfil in the future as the new models of the MH-47s now have all the comm antennas, etc mounted on the bottom.