There is a freight ferry that is also available, though it seems you just get on it with a standby so we were able to get off island earlier than planned . Fun as we are outside
Take the bus to Oak Bluffs then rent a bike and ride down beach road along the water over to Edgartown for some lunch/early dinner at the many waterside restaurants.
VTA bus system runs a tight schedule, one didn't wait as another bus was late to make connection, taxi driver said he makes $1k on most summer days, taxis are expensive, just paid $34 for 3 miles
Check out the tall ships
Best harbor on MV