If you want to look at boats going by and the water, the you will be better off looking for a condo with shared pool overlooking ther intracoastal. This could be in any of the areas you suggest.

If you want a private pool, and to be 10 mins frm the beaches/intracoastal I'd pick Rotonda.

You can rent private pool home on the water, but the price would be prohibitive.