I can recommend the following, where we will normally do a coastal walk followed by lunch.

If you are planning your visit imminently you will need to check that the pubs / restaurants are all open as some of them will shut up shop early in the year.

(1) Solva

https://www.visitpembrokeshire.com/explore-pembrokeshire/beaches/solva-harbour

and food in the Cambrian Inn - Sunday Lunch is very good

http://thecambrianinn.co.uk

(2) Bosherton Lilly Ponds

https://www.nationaltrust.org.uk/stackpole/trails/bosherston-lily-ponds-freshwater-magic-walk

with lunch at the Stackpole Inn

https://www.stackpoleinn.co.uk


(3) Dale

https://www.visitpembrokeshire.com/explore-pembrokeshire/beaches/dale

with lunch at The Griifin

https://griffindale.co.uk


(4) Lawrenny

http://www.lawrennyyachtstation.co.uk

with lunch at the Quayside

https://www.quaysidelawrenny.co.uk


(5) Nolton Haven

https://www.visitwales.com/attraction/beach/nolton-haven-beach-1936410

with lunch at the Haven Brasserie

https://thehavenbrasserie.com


(6) Little Haven

https://www.visitpembrokeshire.com/explore-pembrokeshire/towns-and-villages/little-haven

with lunch at The Castle

https://www.facebook.com/castlelittlehaven/