Tun Sakaran Marine Park is the classic Semporna day out. The park sits off the entrance to Darvel Bay and covers a wide spread of islands, reefs, and shallow turquoise water. Most trips combine a climb on Bohey Dulang with snorkelling stops and a look at the stilt villages of the Bajau Laut.
The viewpoint above Bohey Dulang is the money shot: a steep but short hike to a ridge over the lagoon and reef flats. Bring shoes with grip, water, and patience at the jetty, where island-hopping groups tend to leave in clusters rather than on the dot.