I've fished at Rincon numerous times, besides the flies out near the island which have literally driven us off the water several times I've had a lot of success fishing there! The pylons leading out have great fishing and we've even had large whales roll right up to the island within 30 ft of us! We've caught lots of calicos, sandies, johnny bass, and short WSB there. Its all also great place to bring the flyrod with sinking line!
Yes if you park in the main lot overlooking the ocean you will have to bring your kayak over rocks, however if you look on google maps there is a back parking lot on the other side of the highway. Last I checked they had closed that lot down due to covid, but if it's open, there is a tunnel that goes under the freeway and down a nice little path with no rocks right down to the other end of the beach! all you need is some kayak wheels and you are good to go! I stopped doing the little escapade over the rocks the first time I ate shit there, its no fun.
Good luck out there!!!!
