way dry in my hiking boots and change to water shoes when I want to get wet. You can do that if you’re careful. If you want to hike in the river, plan differently because the water will be VERY cold.
Having dry boots and socks for the hike out is a must for me.
Also, yes you only need one vehicle if you’re hiking bottom up and back down.
If you started above and came all the way down you’d need two vehicles, some gear to rappel and you would inevitably get completely wet. You’re probably remembering doing it that way.