One thought of getting boats OUT of BVI, which would eliminate any risks to people of BVI (but would of course require permission of BVI .

Rendezvous at sea on a very calm day or remote/designated mooring/anchor where the "delivery crew" would exit and return to BVI via chase boat. The Chase boat could even be BVI Customs to monitor activity.

The "pick up" crew would arrive and board only after "delivery crew" well off boat, and move boat to USVI. (I would also discuss plan with US CBP prior to activity).

Just a thought.