A yacht trip off the coast of Madeira was one of the highlights of my vacation https://www.divineboats.com . It was perfectly organized, the crew was attentive, and I felt completely free on the water. We swam in the open ocean, saw dolphins, and enjoyed the views of the cliffs and the sunset. Everything was calm, safe, and very atmospheric. This type of vacation allows you to truly experience the island and escape the hustle and bustle. I'll definitely do it again next time.