I just wanted to make sure that you knew there was "nothing" at Bahia since you said you wanted to spend a few days there (atypical) and hadn't been to the DR before. If that's what you're looking for, great, you'll find it at Bahia, and that's what most folks love about going there.
As was pointed out, it is REALLY far from Punta Cana to Barahona and Bahia. If you like driving at want to check out the scenery, great. But I recommend a stopover in Santo Domingo to rest and see a few things there.
The boats for Bahia leave from a place called "la Cueva", which is near Cabo Rojo. Pelampito is NOT the road that goes out to la Cueva to get to Bahia de las Aguilas. It is another place that you could go to. You will see the road, it is about 20 min. before you get into Pedernales and there is a sign on the left. There are also signs that tell you where to turn on that road. It is kind of far, as the road is pretty bumpy, maybe 30-45 min? A regular car CAN get you back to where the boats are at la Cueva. The boats should be around $RD 1500 round trip, pay after they bring you back to your car. I would not recommend that you walk from where you park your car to the beach, as it is about 5 km hike through desert-like conditions, with no shade. I have done it, not a fun time if you have the money to spare unless you enjoy long walks through the desert vs. on the beach. Unfortunately, it's just worth it to pay that much for the boat to go out there. The coastline scenery on the boat is great. Even if you have a 4x4 to drive out there, someone mentioned they got stuck on the big hill, and having to pay several times more than the boat would have cost to be pulled out.
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