I understand wanting to see Bermuda's beaches, they are beautiful! One day in a port is never enough time, we stayed overnight, so we were there a day and a half and it still didn't feel like enough time!
If your family likes seeing anything historical then the Martime Museum is very nice. There was not very much to see at Fort Hamilton, but there were beautiful views from it! If you're doing a ship sponsored tour, then you won't need to be as concerned with time, but if you're on your own just make sure that you are back to the ship within plenty of time for the all aboard call.
We bought the transportation passes because the ship's tour to Horseshoe Bay Beach was $48.00 per person; which was in essence a bus ride to the beach...nothing else was included. On Day 2 we went on a kayak tour. I contacted the provider directly, but they would not take outside reservations and told me we needed to book through Royal Caribbean.
Whatever you choose to do, I'm sure you'll love it! Bermuda is beautiful 
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