You have a host of excellent operations in Palm Beach/Jupiter, which shows you how good the diving is. However the Jupiter shops do hit different sites that many of the Palm Beach operators. In addition, about the same distance south of palm beach as Jupiter is North, there is Boynton Beach, which has a superb "don't miss" wreck called the Castor. Here is just a suggested itinerary.
1. A dive or 2 at Blue Heron Bridge. This is a "DON'T MISS" DIVE. You must time this dive for the two hours around high slack tide. It is a shore dive in a protected inshore area so is do-able even if the ocean is rough. It is mainly a macro-oriented "muck dive" where you will see a large assortment of some of the strangest critters: frogfish, sea robins, flying gunards, batfish, stargazers, octopi, seahorses, nudibrachs, bobbit worns, mantis shrimp, snake eels, fireworms, scorpionfish, many different gorgeous juvenile reef fish, batfish, banded coral shrimp, arrowline crabs. Just amazing stuff. Also, you can often see larger gamefish like snook, assorted snappers, schooling fish like blue tang and spadefish, grunts, angelfish of several types, stingrays, eagle rays, the occasional manatee (odds are best this time of year), jacks, and barracuda. It is shallow (6 to 16 feet) so you can get 1.5 to 2 hours out of an AL 80. If the tide is early morning or late afternoon, you can even get in a morning or afternoon boat trip.
BHB is the only shore dive in the area that is really worth it. And, it is easy, clear water, sheltered to boot.
The shop closest and most dedicated to the bridge is Force E Riviera beach, where we rent our tanks and get the latest info, as someone from the shop is diving the bridge often.
If you want to maximize your chance of seeing critters, there is a dive guide on here that goes by scubajenny. She posts often in the Blue Heron Bridge Trolls thread. She is an ultimate pro at finding the good stuff and is at the bridge several days a week so she always knows what is going on. For a visitor like yourself, I would highly recommend contacting her. Don't know what she would charge, but it would probably be less than a boat trip and well worth it, in my opinion.
2. Jupiter Dives: The sites I like up there are (1) the Zion "wreck trek" which is a series of 3 wrecks all do-able on a single dive, depth 95' max. Lots of goliath groupers, all the time. (2) Spadefish Point or Monkey Ledge, these are part of a long deeper reef called the Juno Ledges and are by far the most scenic portions. They are absolutely beautiful deep reefs with a variety of large (turtles, goliaths, maybe some sharks) and small marine life and loads of tropical fish. Depth 90'. 3. The MG-111. This is a sunken barge that is not a spectacular wreck but always a spectacular dive as it attacts a huge amount of big marine life. Goliaths, lemon sharks, huge stingrays, gamefish, this dive just never disappoints and is a great second dive after one of the deeper ones. I would ask for a trip here, specifically. 4. Tunnels or Shark Canyon. These are shallower reefs with good marine life, lots of sharks, usually goliaths, often turtles as well. Depth around 60-70'. These are often second dives after one of the deeper ones.
Jupiter Shops: Scubaworks, works with the Kylami, a top boat. Jupiter Dive Center, a great shop, serviced tech divers, operates two boats that they own themselves.
Palm Beach Dives. (1) The Amaryllis. A series of really nice wrecks with lots of life. Depth about 90' max. (2) The breakers reef. This is a shallower reef with multiple different sites Ron's Rock is a great section. Lots of soft coral, big sponges, and is the place where we see the most turtles in the area. Depth 50' or so. These are often second dives after a deeper wreck. (3) Governor's Riverwalk wrecks, again, lots of life and the wrecks are very scenic as well. depth around 90'
Operators: Jim Abernethy is my "go to" operator and he has just gotten an awesome new boat.
Boynton: You go here for THE CASTOR. It is the best wreck in the area by far. Thickly encrusted with bright orange cup corals, red sponges, a riot of color. Lots of big life, goliaths, turtles, sharks. This is an essential dive. For the second dive, Boynton has shallow reefs as good or better than Palm Beach. Black Condo is one of the top sites.
Operators: Underwater Explorers, a nice roomy 6 pack and our personal favorite. For a larger boat with more stability if it is rough, Starfish Enterprises or Splashdown Divers are excellent.
Also, be sure to contact Danvolker, above. He runs a dive oriented website, knows everyone there is to know, has created great hotel deals. He is an invaluable source of information for lodging, meals, bookings and shops.
One important piece of advice, ASK IF THE CHARTER WILL INCLUDE OPEN WATER CLASSES. If they are taking classes, the best sites, which are all deeper as you can see, will not be on the itinerary. If you want these deeper sites make that clear when you book so you don't get a disappoinemtnt.