I went down at Angel City about our 3rd day so the rest of the week we used docks/easy entries. So here's some.
Most shops/resorts allow it, they just ask that yiou check in at the shop first.
We rented tanks at Den Laman and used their dock.It's the south side of Bari Reef so among the best dives, It was b4 Dive Friends took over the concession but that operator was a lot more restrictive than they are so I can't see them closing it to guests of the resort only..
Just south of there on the other side of Coco Beach club is the main Wannadive shop at Eden Beach Resort - they have a dock also. Their other facility south in North Belnem is a tank exchange - I believe there's a dock there also.
We paid $5 (10 yrs.ago) to dive at Habitat when all others were free. Could use their tanks/lockers instead of carrying ours from the parking lot a decent walk away. We dropped gear at the circle by the bar, the dive is down the ramp next to it - the shop on the upper level.
From there swim north and will run into Cliff - we turned near the memorial and floated back in over the LaMachaca wreck.The north dock at Habitat has wide stairs and benches - the boats use the other one.
We didn't dive there but you could have at Buddy's. Likely also at Belmar condos to the south - their other facility. We stayed there so IDK their rules for outside divers. Not the best dive though - good for a house reef but 5mins. south are better non-dock options.
A little easier is Windsock Beach - it's flat where you walk in. Also you can dive 18 Palms at the Plaza - it's a walk in off the beach. The shop is south by the lagoon, the dive almost at the north end of the property. The small lot NW of the main Plaza entrance (might say employee lot) is the closest parking - walk south thru the gate and the duve is maybe 100?' down - you'll see the tanks Toucan stages there.
I personally would not call the Dive Friends Cliff (Hamlet) entry easy but it gets you close. Sort of rocky and no dock.
Black Durgon is closed to non-guests and I believe so is Harbour Village,
I'd heard the opposite about the Divi - they discourage cruise divers waliking in there - nearest dive to the port besides the Dive Friends location which is where many of them go to shore dive.
1000 Steps is really a benign entry once you get down there - IIRC it's 42 stone steps. Coming
back up is the problem....
Bachelors Beach in Belnem has a short ladder that either drops you onto the sand or into about 4' of water when the tide is in.
Lastly previous divers have marked the best entry points at some of the southern sites - usually piling up coral rubble. It's not always right where you park either so scout the area. Some like the Hooker don't have a decent entry that's not over the ironshore but where elae can you shore dive a big wreck?
Here's an easy entry - this is Vista Blue a far south site. Current can be ripping there in the afternoon though. One trick - if possible park your truck behind the entry point - from the water all the ironshore looks pretty much the same so it's hard to spot the exit.
Scuba Shore Diving Site Page for: Vista Blue of Bonaire South, ABC Islands
One last thing - once you leave the resorts no sites have any facilities so you'll need to bring a minimum of extra gear and nothing you can't live w/o in case your truck is gone thru while you're gone. Do heed the windows down/doors open warnings - otherwise you'll be cleaning up glass. We just threw all our gear loose on the back seat and tanks in the bed - no one takes those.
A lot of the entries are pictured here so you can decide on other options. The brown stuff just offshore at many of them is submerged ironshore you have to scramble over. It's slick and the spiny urchins love it...
Scuba Shore Diving Region: ABC Islands