Trey, hands down the best place to stay is Hunting Island State Park. Camp Right on the ocean for around 25$, beautiful unspoiled beaches, a little out of Beaufort, but not too far for the beauty of the place. The SEACATS travel every year as a group in shrimping season, but no sailing off the beach, save that for Sullivans Island or Folly Beach in Charleston.
Google it for the skinny

The men were amazed, and said, "What kind of a man is this, that even the winds and the sea obey Him?" Matthew 8:27