Anchor in that cove just to the S of the entry, and take the dingy from there.
I find that AAA has one price for a tow, another price for a 'recovery'. We've learned not to push the limits on our 4WD. Taking a keel boat through there (or even a shoal draft tri) looks like pushing the limits a bit further than I'd be comfortable. Heck, I can get in enough trouble offshore with no rocks!