Normally you would have to have a code to enter the beach access from Rosemary. But if you're daring, you could hang out until someone staying at Rosemary passes thru. Crabby Steve's is located west of Rosemary within the High Pointe Resort which is a gated community.
We park on the side streets in Rosemary and walk over E
You can't. You actually have to stay at one of the resorts and walk to it from the beach.
Thanks! Your answer is awaiting moderation.