In case anyone else is looking for a similar option, I would recommend checking out some of the tours at CaribbaConnect, which is a local tour booking service out of St. Thomas. Tours from all the top-rated providers on the islands are listed there.
Personally, I recommend booking private tours with a customizable itinerary. That way, when you get on board on the morning of your departure, you can work with your captain to plan all your stops and destinations.
There are some sailing and powerboat tours that can take you to the BVI and specifically Virgin Gorda, Jost Van Dycke, and some of the popular bars and other places to see.
Here are a few I found:
Sailing Tours to Jost Van Dycke
Full-Day Sailing Tours to Jost Van Dyckehttps://caribbaconnect.com/st-thomas-vi ... -dyke-bvi/
Private Sail to Jost Van Dyckehttps://caribbaconnect.com/st-thomas-vi ... -full-day/
Powerboat Charter to British Virgin Islandshttps://caribbaconnect.com/st-thomas-vi ... -full-day/
Another Powerboat Charterhttps://caribbaconnect.com/st-thomas-vi ... itinerary/