You can definitely taxi from Soper's hole. Be sure to tell the driver where you want to go when you call for a pickup because some drivers won't take their vehicles to Smugglers. Not sure about hiking but I can't see why not. It will be a decent hike by the time you walk from Soper's around the harbor and get to the road to Smugglers. You could potentially dinghy to the dock near the ferry but I don't know if that's restricted to customs traffic.