The one place I can imagine needing to get in the water is Lime Out in Coral Bay St. John, the floating taco bar. Magens Bay, St. Thomas allows dinghy dropoff, but you cannot beach your dinghy. Otherwise, there is dinghy access. You can see the National Park beach dinghy access at https://www.nps.gov/viis/planyourvisit/boating-information.htm

CYOA is who we like for USVI charters - newer boats, well maintained. Best itinerary was compiled by Capt. Jay from CYOA at https://www.facebook.com/groups/usvicruisers/permalink/3824749230911034

Cheers, RickG