Tldr yes you should do this
Boat launches informally off a beach. Very little instruction and off you go. Boat felt pretty crowded, you had to negotiate with other passengers to move around. No restroom.
Very awesome scenery our #1 experience in Kauai.
Were given 40 minutes to have sandwich and snorkel. This felt really rushed. We snorkeled for a bit then wolfed down our sandwiches. The tour would be much much better with a bit more time on the coast.
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