We have been allowed to park down near the restaurant once when the street was pretty filled up, and I am pretty sure that they would let you at least come down to drop off a person that has mobility issues.

Sunset Cafe is in my top three for a place to eat and relax on a beach for the day. Not inexpensive but worth it.

I pimp DK Gems, The Palms, Lal's, La Chingona, Dany's at Cupecoy and Friars Bay Beach Club !