My husband and I are visiting the WPB area for the first time this weekend, staying in Jupiter. We'll be visiting family in Orlando on Sunday, and would like a great place to stop on the way back to our hotel that evening. We love food and drink at different price points and charming, walkable beach towns with great little shops or boardwalks to people-watch. Any recommendations? I see Vero, Melbourne, and Coco beaches are along that strip. Any of these a worthwhile stop for the afternoon/evening hours? Not interested in anything that's going to be too packed. Something like Rehoboth Beach, Delaware would be a good reference point. Thank you!!!