I put in my own CCTV engine room monitoring in my 48 ft YF. It was a mix of components from Radio Shack and works just fine. The biggest difficulty is seeing the TV screen, about eight inches, in sunlight on my flybridge. It's like trying to watch TV with bright sunlight..very difficult. It is also impossible to replicate the detail of a periodic engine room visual check in person, but as has been noted, heavy smoke should be readily visible via CCTV. My only concern there is that diesels consume so much air (smoke) they might disspate most of the smoke making it less visible. But overall CCTV is a nice safety feature.
Related to this is a rule I follow: never run the genny while underway. 99% of fires and failures I hear about result from a genny malfunction while underway where main engine noise prevents any sound monitoring. Addition of alternator(s) of sufficient size to power an inverter and run appliances from main engine(s) is far more efficient than operating a separate genny. Of course if you run air conditioning full time, this isn't practical because of high power demand. An alternative is to provide genny instrumentation right at your most used helm station. That may provide feedback before an alarm condition occurs. A salt water flow meter for the genny is inexpensive and provides immediate feedback if salt water flow is lost. A simple 120v indicator lamp at the helm can warn when power is lost but the genny is still running.
Does anyone know of a smoke detector for an engine room, one with a remote alarm indicator??
Regarding Whaler replacement, you don't mention why you are replacing it nor your intended use, so suggestions are difficult. But generally fiberglass RIB's are drier and the VEE RIB hulls offer natural cushioning difficult to achieve with a Whaler. I'm not sure any weight difference will make any difference aboard your boat. In general, RIB's will plane a bit easier than a Whaler because of their additional beam relative to length. If you leave your tender in the water for long periods, an inflatible will have to have the tubes and bottom painted with bottom paint to prevent marine growth, just like an all fiberglass tender.