"Get away, to the where the boats leave from." Doubtful that Zac Brown was singing about Hyannis, but it is where the ferries can take you to Nantucket, Martha's Vineyard, or a variety of nowheres (ice cream cruises, booze cruises, sunset cruises, fishing charters, etc.). As the Cape's biggest "village" (technically, it's part of Barnstable town), it's where you have to go for things like Home Depot, Target, etc. But it also has a lot of restaurants and a thriving Main Street. With all of that though, it can be pretty people-ey and traffic-ey.
Baxter's - Counter service Fish and Chips (and other fried seafood) while watching the ferries come and go. There's also an adults only bar and table service restaurant.
Spanky's Clam Shack - Indoor and outdoor tourist popular seafood.
Black Cat Tavern - Along with the Black Cat Harbor Shack next door, offers indoor and outdoor tourist popular seafood.
While these places may have food too, we think of them more as a place to get a drink.
Barnstable Brewing - low key brewery
Cape Cod Chips
Cape Cod Maritime Museum
Arcade
Melody tent