We also stay at Kuhio Shores and the swimming beach is right next door. I love that complex because you can hear the waves crashing against the rocks all night.

We walk from Kuhio Shores every morning down to Kiahuna Beach and Poipu Beach, but you'd have to drive to take all your beach gear with you. I like the beach at Kiahuna for swimming--don't need reef shoes there, its very sandy.

Have fun!

Thank you so much for all of the suggestions everyone! You've helped a lot! :)