Yes my husband and I did it about ten years ago. We sailed from Portimao in Portugal to Santa Cruz. That route I don’t think is possible any more. We first of all sailed from Newhaven to Dieppe and then shared a relaxed drive down through France into Spain, then Portugal. We took 5 days, stopping when we felt tired and finding B and B hotel which was easy enough. Drove around 450 miles per day. Once on board, no problems but boring, read 2 books, 42hr sail vía Madeira but on arrival in Santa Cruz, never saw a customs person, just drove straight onto TF1 and home. So many folk advised against taking a rh drive car to Tenerife but we’ve still got it there, no problem at all driving it there. Have been stopped by police usually NYE but they always come to lh side of car, suddenly notice no steering wheel and tell us to clear off! So in some ways, an advantage! Think you can sail from Huelva now or Cadiz both journeys very similar to what we did. Hope that helps.