Re: Rock Islands
I think the best way is to take organzied tour unless you comfortable with high budget - the distance there are quite number of miles, and teh boat which I was using on organzied trip was among fastest and most powerful speedboats I ever see, so to hire similar one I think will overall cost ca. 500-1000 USD/per day.
The trip I had with Sam's dive tour was really good, just 8 or 9 persons on teh board, we stopped among others at Jellyfish lake, but at the beach we were only on a "lunch island"- you shoudl aware, that Palau as South Pacific as whole is not strong with beach, unlike lagoons.
By kayak, of course , you can reach spart of islands, but I chosen the orgaiznes speedboat tour as it itinerary was much nicer, and without guide it is not always effecient just to look around.
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