We were in Hilton Head just recently. There are many excellent restaurants, but we found the Homeport to be our favorite. Great water front location and outstanding food at reasonable prices.
If you stay at the Hilton Head Marina & RV Resort, there is a restaurant at the marine that gets excellent reviews, but we did not go there (we stayed at Outdoor Resorts Hilton Head Motorcoach Resort on the other side of the island).
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Shucks ! You went right by my house and didn't stop and you could have camped for $20/night full hookups at the CG I manage for Sun City Hilton Head Boat and RV Club. ;D ;D