I happen to really enjoy the Jupiter/Palm Beach area. The sailing is offshore. However, there are many really cool places to drop the hook like peanut island, etc. Many many sailors just keep their boats at anchor in these areas. It is also a great place to go about in your dinghy. From Jupiter you can go west a bit and travel up the Loxahatche which is an unbelievable place where you are certain to see gators.
Fort Lauderdale does have a great sailing community. If you visit there, you can anchor in Lake Sylvia.