We just completed a crewed charter that started in STT but cruised the BVI, and it was simple with the captain doing the paperwork ahead of time and waiting in line for us while we stayed on the boat for an hour. The fees for my wife and I were $256 to Customs and $78 to the BVI Ports Authority.

After hearing three groups hating their go-fast center console private water taxis, I'm glad we didn't go that route.