I will be traveling to Sorrento in May and am looking to either rent a boat (self drive), book a tour or take a water taxi from Sorrento to the Amalfi Coast. I will be traveling with my husband and two children (4 and 10 months) as well as my extended family of 9 adults. We do not all need to travel in one boat. I am looking for recommendations of companies to use...there are so many different ones! Ideally we would spend a day on a boat traveling from Sorrento to Positano and also stop in Amalfi (or another small town). I would love to get a lunch in one of the towns as well! Thank you in advance!