Camache Cove is a pretty fair distance away from town proper. It's surrounded by condos, but there's not a real grocer close by. Very little going for it for a transient.
The Conch House is a nice place, and is only a couple of blocks off of A-1-A. The St Augutine lighthouse is also close, and old town is just across the Bridge of Lions. If your kids want to see an alligator up-close, there are a couple of small ones in a pen in the outdoor
seating area of the restaurant.
If you want to Google map it, the address is:
57 Comares Ave, Saint Augustine, FL
Of the two, I'd go with Conch House.
PF.
PF has no connection to either of the marinas cited.