Check out this Camps Bay Beach image:
Image by Birger Hoppe
One of the water taxi companies, which ship their passengers around from beach to beach like this, allow for a walk to somewhere else and pick you up there again. Very well planned…they have exact lists of who to bring / pick up where. If seats are left you could just hop on…but if not you have to stay behind. There are beautiful camping sites around, though…
Have you tried: Sailing in Africa ?