Best ports/cities for independent traveller

[Mishkira]

What are the best Caribbean ports would you recommend for independent onshore excursions? The preference would be a cruise with several stops on the islands where the cruise pier is located in the city center or nearby an interesting place - so that I can sail in and go straight to the city to see the sights (and don’t have to take an hour by bus, bargain with taxi drivers, mandatory excursion in a big group, etc. ). I prefer to see historical/architectural sites (not spending time on a beach or water activity).
Or which cruise takes place next to the islands and you can watch something interesting / beautiful from the ship (rather than sail all days in open ocean).

What islands / cities do you recommend for such traveller? Thanks!