Cabo Azul, a Hilton Vacation Club is 28.5 km in a straight line from Marina Cabo San Lucas, and the closest boarding dock is Fisherman's Landing. The trip is about 32 min by car without traffic, according to the route OSRM calculates with OpenStreetMap data. At rush hour the drive takes longer, so give yourself a margin before boarding.
We can book a driver who picks you up at the hotel, takes you to your yacht and brings you back. Cabo Azul, a Hilton Vacation Club is in Zone 1: San José del Cabo. The prices below are per vehicle and in USD, and you pay them to the driver on the day, separately from the yacht: the first price in cash, or the second by card on the driver's terminal, which adds a 5% fee.