If driving its best if you have a little extra clearance or you will probably drag a little. You don't really need 4X4 though unless the road is wet.
Paddle out from the beach. Unless you're really good going off the rocks you're probably going to get cut up or ding your board, and only go off the rocks on higher tides.
Leave your car at the Restaurant / Hotel Ranch Mango, they usually don't charge, just buy a drink or some food.