I would just like to really caution you that they very much run on island time in Tortola and Virgin Gorda. We took the baths tour through Disney and they held the boat for us b/c we were back late! Whatever you do, allow a lot of wiggle room!
We used Foxy's for a private charter in Tortola. They met us at the ship and off we went on the boat. They made sure we left our last location in plenty of time to make our scheduled return. It's expensive for a private charter if you don't have a big group but it's a great way to get to do what you want.
We used Patouche Charters on our cruise this past January. We booked as an individual family. I did try to fill the tour by looking for more families to join us on the Meets Thread for our cruise. By luck or not, Patouche filled our boat with Disney families. By doing so, they picked us up at a pier in walking distance of the ship.
Patouche Charters was very professional and we were very pleased with their service. They were on time and had us back to the ship early enough to do a little shopping in town before we boarded the Fantasy. They had water, soda, beer and rum punch available. The place they took us to purchase lunch was really nice, clean and had good food. We swam into the beach at the Baths and I would highly recommend using a snorkel float. I am NOT a strong swimmer yet was able to make it in without a float. However, if I were to do it again, I would use a float. It would have given me a bit more confidence.
Enjoy your cruise!
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