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OP it could be helpful to add some context here as flying somewhere like Hawaii and driving an hour to a beach in NW Washington are going to have completely different recommendations.
Flying limits what you can bring and the climate of the beach you’re traveling to can make a difference too. More northern areas aren’t going to be as hot or dry so it might be advisable to bring a rain jacket or sweater and no swimming gear because the water is too cold.
Mid Atlantic beach, taking a car, but I’ll be going with some other people so I probably just have room for motel stuff in one bag and beach stuff in the other