Yes - you can go almost anywhere in town. There is lots of dining and shopping and entertainment. The beach is open to the public in the center of town from the Coleman pavilion (the tall white obelisk on the right), east to Bud & Alley's (access in lower left of photo) and over to the Wedding Pavilion behind the Shrimp Shack just to the left of the photo.
All the other beach pavilions to east and west of the town center are private, for owners and rental guests only.