Amalfi Coast by boat - geared toward Naples cruise passengers?

[JTelcontar]

We are a family group traveling in mid-October on a Mediterranean cruise. For our port stop in Naples (7 AM to 6 PM), we are wanting to do a boat trip to see the Amalfi coast. I've done this by minivan ten years ago, but I know the traffic is even worse now. So we are hoping to avoid most of this traffic by sightseeing from the ocean! I know there are ferries, but for our purposes I think I would like to get us on shared boat tour.

 

I've done some research and also searched the forum here; but it seems like there are limited options, and most of them are intended for people staying on the Amalfi Coast itself or coming into Salerno by cruise. I see some leaving from Sorrento, which would likely be OK and we would just need to organize additional transport.

 

Have any of you done such an excursion and have a vendor recommendation who works well with cruise ship passengers?

 

Thanks!