You can certainly wander the grounds - if you drive over, tell the gate you are members and would like to check out the resort. Or park at the marina, check out the stores (buy some treats at Hilton Head Social Bakery - you will be sorry if you don't), and cross the bridge (You can't use the pool or community hall or anything, but they'll let you wander around and buy a Mickey Bar. The Beach House is behind a gate, but you can walk around the outside and check that out. Don't expect to be able to see rooms, they are booked solid in the Summers.