From your seats, you should be able to see the players hit into and putt out on hole #16. Then, hole #17 is a par 3, so you should be able to see them play that hole from tee to green.
If you want to walk the course, it is flat, so it's not a difficult walk. I always like to walk in reverse order of the holes - that way you'll see many more groups than you will by walking forwards as you usually keep up with only a couple of groups going forwards.
I won't go into all the things to do in Hilton Head or Sea Pines, but will suggest you walk through Harbourtown Marina on your way to the 17th. That is the location of the famous lighthouse you see in all the Hilton Head photos (the backdrop for the 18th green).