Definitely take the Scrub ferry to Marina Cay for lunch and/or dinner. There’s also a nice beach.

Weather permitting, kayak over to snorkel Diamond Reef and even to Cam Bay. Great Camanoe is a private island, so you cannot explore it, except by kayak.

Agree you should rent a car on Virgin Gorda. You may want to end your day at Coco Maya. Not sure about the advice to take a ferry from Leverick; Speedy’s goes to Spanishtown.