No taxi traffic at Francis, so you would need to arrange for a pickup. vinow.com has a reliable taxi rate table - one-way $13 to Francis for first passenger, $9pp for each additional.

Maho has very little taxi traffic, so same strategy would apply. Cinnamon Bay is the beach furthest east with regular taxi traffic.

Daily rental cars are possible, by you generally need to call for availability. Varlack is the closest to the ferry dock.

Cheers, RickG