ROAM is in service, but the boat must have a DTOPS sticker. Otherwise, you need to check in. Cruz Bay is the easiest. You can anchor in the creek for up to 3 hours in 6-feet, or grab a ball at Lindt Point or Caneel Bay, and dinghy to the National Park dock. Customs is a short walk. You are not required to clear out of the US. Cruz Bay is one of my favorite walkable Caribbean port towns - lots of restaurants and bars.

Cheers, RickG

S/V Echoes, 2003 Beneteau 423
Grenada