I have done this a lot and it basically sucks as far as picking up. Two alternatives, one is to have them come out to the entrance of the cruise harbor along the road at a certain time and pick them up with your flasher on, second give them directions for the short walk down to Chesterfields where you can park and can have a drink before they depart back for the boat at the end of the day.

Years ago locals could leave their driver's license with the guard and then collect it upon leaving, not anymore. If anyone in the party is disabled the guards will usually still honor the old leave your license scenario, I did that as late as last year.