Our guidebook says that the tourist maps are out of date and that you can take a rental car on the North side of Maui. It's hard to say if we were in that area, but we did see rocks in the middle of the road that had recently fallen there from the cliffs above. Yikes.
The water was a lot warmer than the water in Maine or Cape Cod. Nice waves too!
Fleming Beach Park has lots of parking, rest rooms and showers.