Regarding Virgin Gorda,
There aren't big cruise ships that stop in VG. They stop
in Tortola and ferry over from there.
IMHO, the Baths are best if you avoid them between about 9:30am
to 3:30 pm with or without cruise ships. It doesn't take many people
to call it crowded. It's not that the experience is better, it's that it's dramatically better.
Having said that, if you can't avoid those times, it's still pretty cool with the caveat that
on cruise ship days, it's stupid crowded and a frustrating waste of time.
As far as driving, it's not difficult. Use the same caution as you use at home
with drinking and driving. That what cabs are for.
One man's opinion

Mike