Is it possible to see The Baths & Yost Van Dyke from Tortola

[EJHiker]

Looking for an excursion, scheduled or custom, that will take us to both The Baths & Yost Van Dyke when we are docked in Tortola on March 29, 2019. In port from 8:00 am to 5:00 pm.  I was able to book a custom tour from St Thomas 2 years ago, but we didn't make it all the way to The Baths due to rough seas.  Since Tortola is closer, it would seem possible, but I am not seeing any scheduled excursions or even any customizable options. 
I've also considered trying to get off the ship early and visit one by tour, and one by ferry or both by ferry - but seems that might be tough to pull off?  Has anyone done this?

Edited November 17, 2019 by EJHiker

[blue_water]

With a private charter, this is just one option with pricing listed-