Information what you need when returning to the United States.

Overview of requirements for boats:
https://www.cbp.gov/travel/pleasure-boats-private-flyers/pleasure-boat-overview

Start here.  Get a DTOPS CBP Decal for your boat if returning to the US:
https://dtops.cbp.dhs.gov/main/#%20

If everyone returning is a US Citizen, then you might consider having the return crew apply for identification from the Small Vessel Reporting System (SVRS).  Despite its name, it is like Global Access for captain and crew.  For instance, if all crew have this, you will likely be able to check in by phone, although they reserve the right to make you come to the airport anyway.

Small Vessel Reporting System (SVRS):
https://svrs.cbp.dhs.gov/Default.aspx