Aloha everyone!

I will be staying at some el cheapo hotels in Kihei before hitting the Hyatt at Maui. While at Kihei, I want to check out the Grand Wailea. I understand the beach is public access - can we walk around the resort etc.? Do we have to eat at some restaurant to get inside? I do not intend to use their pools etc.

In general, can we walk around resorts we are not staying at? Is that trespassing? Or should we just stick to the public beaches?