We were over in Coron on Busuanga Island. Really easy to just hire out a catamaran and head off to whichever island or wreck you want to explore.
We were there about 8 years ago and while you wouldn’t call it “untouched” it certainly wasn’t as developed as some of the main tourist spots which in my opinion was a plus point. Can’t vouch for what it might be like now and I think that whole Palawan area is becoming very popular with Chinese tourists amongst others.