Try contacting AHD Travel Services and inquire from them. They might be able to suggest good places to visit/see.
https://www.facebook.com/AHDTravel/photos/pb.687689601294585.-2207520000.1450063300./901399099923633/?type=3&theater

Sorry I am using a smartphone with a very slow connection and I can not go into details.
Been twice traveling by bicycle in Southern Palawan and Balabac where I stayed a few days. I am a muslim and as I lived for many years in Zamboanga City I'am used to philippine muslim people habits,culture,thinking and way of live. I mean I know what I' m talking about.
My advise, better don't go to Española, Brooks, Rio Tuba ,Balabak or any other island on that area. Even small there is risk of kidnapping for ransom on that places. That assuming you are a foreigner and not a filipino as the one in the linked website. Narra,Aborlan,Quezon and Rizal should be fine and mostly safe places to visit.

paco1111 - good advice - thank you
in my response on reply #6 - I was simply relaying information from an email that a friend in Rio Tuba sent me. He is actually an Aussie but his girl has lived in Rio Tuba for 30 years. They suggest tourists to not travel in Rio Tuba or Balabac at this time.

DP - thanks for the heads up! It is disappointing to find that out. May make some more enquiries do some more digging.
Thanks!
I cycles to the very bottom of Palawan last year. The people in the south were Muslim but no one ever accused me of being a sinner or any hatred.
I inquired about the ferry from Rio Tuba and yes, there are regular ferries. Not sure what time they leave. I forgot to write it down.
BTW Not too many people speak much English in Rio Tuba so when you find someone, make sure you get a translation for everything important.

Hello ngariwiri, I was just giving the opinion a resident of Rio Tuba emailed to me from Rio Tube that day. Their opinion only. I would not hesitate to go down there myself but the suggestions the OP was getting were for tour companies like the tour companies around El Nido organizing their trip. Southern Palawan is not really set up for tourists.
The "ferries" to Balabac are what they call pump boats - big wooden boats that usually leave in the mornings from the pier in Rio Tuba if there are enough passengers. They do get Coast Guard clearance before departing (because of weather considerations). I never had a problem finding people in Rio Tuba that speak a bit of English. Travel around Balabac Island itself really requires getting around by boat.
...also bear in mind the malaria risk (and other diseases which can be transmitted by mosquitos) almost everyone uses mosquito nets
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