I'm not a full-time liveaboard, but I have been on-board for the last couple of months and you can definitely make it work.
Sailing is labor intensive, but not in the ways you imagine. Navigation, docking and provisioning are all straightforward.
Where it can sometimes feel like a full-time job is maintenance. Everything on a boat wants to break all the time. Doesn't matter if the vessel is brand new or 40 years old; finding a balance between maintenance and life is difficult.