After visiting Florida for decades, I'd choose this gorgeous, uncrowded beach town over Miami any day

• My grandma raised my mom in Fort Pierce, a Florida beach city known for gorgeous sunrises.
• I love visiting as often as I can, and believe this city is a true hidden gem.
• The beaches are usually uncrowded and serene, and the downtown area is historic and charming.

In 1974, my grandma bought a home in Fort Pierce, Florida, where she would raise her three kids and live for the rest of her life.

Her house was surrounded by tall palm trees and faced the Indian River, an estuary where inland freshwater met the ocean's salty waves, welcoming manatees, pelicans, and other wildlife.

Growing up, this house in southwest Florida was a kind of second home for my siblings and me — especially after my parents got divorced and my mom moved back in. It was a sunny, peaceful place where we were always welcome.

When my grandma passed away a few years ago and our family had to sell the house, I was devastated. Still, I typically return to the area a few times a year.

Whenever I do, I'm reminded how special this place is. I know I already have a strong emotional connection to the area, but I still believe that Fort Pierce is a true hidden gem.

With a population of 50,000 — compared to the millions living in the greater Orlando and Miami areas — Fort Pierce offers more solitude and natural beauty than other major Florida destinations I've visited.

Being in Fort Pierce feels like stepping back in time

My mom always reminisces about growing up in "old Florida," the time period in her youth when the state felt uncrowded and underdeveloped, and you could have a whole beach to yourself.

There weren't high-rise condos clustering every inch of the shore, and the only other people on the beach were their neighbors.

These "old Florida" traits are still alive on the beaches in Fort Pierce, where it's easy to step onto the sand and not see a soul, save for the occasional person walking their dog. Even cooler than the lack of crowds, though, are the signs of living history.

Walking around downtown, you'll see the P.P. Cobb building, built in the late 1800s, and the House of Seven Gables, which was built in 1905 and is now the town visitor center.

Standing at the waterfront in downtown Fort Pierce, you can look out at the Treasure Coast, named for the fleet of Spanish ships that sank in a hurricane in 1715, dumping their gold along the ocean floor.

I love retracing the steps my family members did when they were younger; it makes me feel connected to both the place and to my ancestors.

The sunrises and beaches are the best around

Fort Pierce's official nickname is "Sunrise City" because its downtown offers a clear view of the sun every morning, unobstructed by high-rise buildings, with lush palm trees and nature all around.

There are miles of beaches to explore in Fort Pierce, too. Even if I do happen to run into a crowded parking lot, perhaps on a busy holiday weekend, I can simply keep driving to the next beach to find a beautiful, tranquil space to relax.

Some of my favorite places to go are Hutchinson Island South, Blind Creek Beach, and Avalon State Park, though I'm always discovering new corners of the area to love.

Convenient eateries make beach snacks easy

Since the beaches in this area aren't necessarily tourist hot spots, you won't find the snack shacks typical of urban boardwalks. Instead, you'll have to bring your own food if you want to stay awhile.

Before heading to the beach in the morning, we love to grab lattes and pastries at Old Florida Coffee Co. in downtown Fort Pierce, which is just a 10-minute drive from our favorite stretch of remote beaches.

Archie's Seabreeze is our favorite spot for lunch after a morning at the beach. We always used to eat here with my grandparents, listening to live music, talking about life, and chowing down on blackened mahi-mahi sandwiches and fries.

All in all, it's one of my favorite spots in Florida

After countless trips to Fort Pierce, I believe that the history and solitude here offer far better opportunities than what you'd find at a crowded beach in Miami.

I also know that someday, this region of Florida could become developed and busy like the rest — for now, though, I plan on soaking up as many sunrises as I can.