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Calabash Eco Adventures is a great outfit for tours on Grand Bahama Island. They offer a number of guided sightseeing and driving options to go along with some of their more active trips. Drop them a line at http://www.calabashecoadventures.com and see if they might be able to customize something for your parents.
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I've been to Freeport and can definitely say you should get away from the port area, which is very ugly and industrial. There's a six-hour Jeep tour (about $120/person) that comes highly recommended. It takes you around Freeport and includes a lunch stop at the pretty Garden of the Groves nature reserve and another hour-long stop at a quiet beach. You can also visit the Garden of the Groves on its own if your parents don't fancy hopping in and out of a Jeep all day. They recommend planning about three hours to visit the preserve; entry is $15/person, plus they should factor in the cost of transportation to and from the gardens. Check on the cruise ship about pre-booking tours for both the above activities. Sorry I can't help on the Nassau front!
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