We've been to Little Cayman, Grand Cayman, the Brac, Florida Keys and Bonaire with 2 daughters, 14 & 16. Bonaire is their (and my) hands down choice, and we're headed back to Bon this summer. We didn't do any boat dives on Bonaire, and did all boats (except swimming out to Bloody Bay Wall one PM and diving the shallows at Point of Sand) on the others.
They really liked just walking in (the ironshore entries are no big deal) whenever we wanted to - or not. If they don't like the ironshore, go to the resorts or places like bachelors beach. At the plaza you either walk down steps into the water or wade out behind a breakwater from a sandy beach. Most of the other resorts have docks/steps/ladders for entry.
Most of all, I don't have to concern myself with others - i.e., intrusive divemasters - just my kids.
In this case, the hype is true - Bonaire is diving freedom.