We had a similar situation this past December. We stayed at the Windward Passage hotel, which is directly across the street from the CA ferry terminal (we were more concerned about getting kids and a ton of luggage there than with beach time). The hotel was more than serviceable and not too expensive, and we walked to the ferry terminal the next morning and got the first ride to Road Town. A side benefit was trying out Gladys' Cafe, which was a treat.

We also rented from Navigare (1st time). I did a lot of research and phone calling to reassure me it was a real company with real boats, but everything's on the up-and-up. The checkout was efficient, and since it's not a huge operation like Moorings, we got off the dock at a reasonable time (I think 1:30 or 2). The only problem with Hodges Creek marina is that there isn't really anything else there, so unlike Road Town there's not much walking-distance shopping. Otherwise all good!