Explore in style. It's not completely straight forward, but in principle, just right click and 'drive'. If you get stuck - just 'stand' then start again. The sim boundary is the biggest hurdle, but at the end of the harbour just hug the stone port and you'll manoeuvre just fine.
I'm not saying Cape Horn is the new Venice, but there are five landing stages, and two boats to play with. Please make sure you return them within easy reach, for the next guy, and have fun at the New Cape Horn.