Rincon

Wondering if there is any area in Rincon where we could stay without a car that has beach and half a dozen or so restaurants/bars in walking distance?

Try searching on TripAdvisor as that is usually a good source for this type info.

I havn't been to Rincon in years but one thing I know is it will probably cost you 2 or 3 days of the cost of a rental for a cab each way.
I would consider the cost of the rental car as part of the trip.

We have stayed in Rincon 3 or 4 times. I could not imagine staying there without a rental car. There is a small downtown area with some restaurants, but I do not remember it being close to the beach. Rincon was very friendly and laid back. Enjoy!

There are some good deals for Rincon on Skyauction.com. We have used skyauction, very reliable.