Breathless Cabo San Lucas Resort is located right on the Marina --- so that might be a good option.
Pueblo Bonito Rose is close, I don't remember it being walking distance but it would definitely be a short uber or taxi.
Riu Palace and Riu Santa Fe are a little further out but would also be a short uber or taxi. I had clients stay at Riu Palace last year and said getting into town and the marina was a piece of cake.
Lauren K '07
www.breezecustomtravel.com
@breezecustomtravel