I'd rent a car or maybe two.
For the first drive, you'll feel a little uncomfortable as you drive on the left but the wheel (most rentals) are on the left.
Remember: Shoulder to shoulder. Right turns onto the roadway can be initially daunting. After a short while you'll feel fine. Best advice I got from a local: Don't drive over 35. Watch for speed bumps. They are ubiquitous and annoying if you don't see them in time.
Renting a car is pretty relaxed. Little paperwork, drop off and pick-up where ever, set pricing usually per day. Dede's is super good (beats the airport rates and all the big guys). Pretty sure he has a couple nice SUVs:
dedescarrental@surfbvi.com