We always spend at least one day at Kahekili beach. The water is clear, abundant fish and coral and easy swimming. Be careful walking in because the bottom drops off fast to coral. there is a big public parking lot south of the Westin, but it does fill up most days. Overflow parking is located north of the Westin (but you need to get back on the highway and it can be tough to find). A little further south is less coral, but better swimming. If you are there during the winter, you can see and hear whales.
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