Nah, not "very" expensive if you are on vacation. $6 one way (no charge to leave)
I lived on Sanibel for a couple of years, but that was a long time ago. The Hungry Heron was a favorite place to get a bite to eat. If you want to get that "island" atmosphere, I'd suggest the Lazy Flamingo. Depends what you want to spend too. If you want to travel to Captiva to watch the Sunset at Blind Pass, go a little further and park in "downtown" Captiva. LOL I'm smiling because it's one street.

A really good place is the Mucky Duck. Here is a list of restaurants on both islands.
Sanibel & Captiva Islands Restaurants and Dining
I just want to add that every place is casual on Sanibel. Yes, you'll occasionally see someone dressed up, but that's the exception. If you wear heels, you'll end up getting stuck between the boards on a deck and.....just don't ask me how I know this!
Most people wear shorts, tees and sandals.