Another idea... but etiquette regarding skipper.
We will have a skipper with us. If no MB available, would it be considered ok, for us to dinghy out and have him/her stay in the boat and come pick us up later?
Because I have been to Bathes so many times, I will sometimes take guests to entrance, return to boat and do chores, and either at agreed upon time or radio call/phone call/text, I then will dingy to Devil's Bay or other pickup point.