You don't need to ride the camel if (like me) you don't like it. I just walk at my normal pace, and I go faster than the camels carrying the other tourists. Of course heat is a factor to be considered.
Several dive sites in Ras Abu Gallum cannot be practically accessed (no moorings) by most daily boats that have no RIB, but these dive sites are straightforward from the shore. By the way, that's why shore diving is still the norm around Dahab. I prefer camel safaris than boat diving in Ras Abu Gallum area, unless the boat has a RIB, a cooperative crew, and not many divers. Camels are flexible and allow small groups, but they are not for the lazy ; boats are a different story.
The same applies to the area of Gabr El Bint, apart from Gabr El Bint itself that has a sheltered, and very convenient, mooring. Other great places (like Shaggurat) can be a bit complicated by boat if you don't have a RIB. But it depends upon sea conditions and upon the boat, the captain, the guides, and the other divers.
I consider Gabr El Bint (north side) and Shaggurat as must-do dives in Dahab.