When we were there we took a taxi with no problem. Enjoyed the beach and the food. Afterwards, went down the street to Margaritaville and had great drinks. Many taxis lined up outside for the ride back to the ship. Older driver offered us the "best" marijuana in the world. Have always kinda regretted turning him down. Do not see how this could be a dangerous place as it appeared to me most were stoned to the eyeball. Never saw so much pot smoking in my life and I grew up in Mexico.
If I remember right, it took about 15-20 minutes to go from dock to Doctors Cove Beach. It did look like traffic could become a problem so would allow plenty of time to get back to the ship. Do not do like us and stop at the bar at the pier until they start pulling the stairs to the ship up. We were the last ones on and were given a stern "talking to" by ships officers.
I do not pay attention to what The State Department says. They have cried wolf too many times.