I thought you were talking about pre-schoolers! Your 6-year-old will likely be swimming like a fish by the end of this summer. A crewed charter is a no-brainer.

Look for a situation where a couple is on the boat all the time, vs an a la carte captain. That will take the pressure to cook and clean off your wife so she can enjoy the vacation.

You will get to see all the islands and make this the vacation of a lifetime for your family.