Answered by ZUPAN
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Aug. 06, 2019 14:46
Assuming that you are US citizens, your husband can drive across the border to Hong Kong, but your daughter is not allowed to do that. If using Shenzhen as arriving airport, she will have to stay in Guangdong province at least for a period of 24 hours and 1 minute to be allowed to cross into Hong Kong. In other words, it is not allowed to use Shenzhen airport for 24 hour visa free transit purposes.
So, she will have to book a ferry from Shenzhen Shekou terminal to Hong Kong Macau Ferry terminal through CKS - Chu Kong Passenger Transport company website. She will receive an e-confirmation in her email inbox and she will have to print it out and take with herself as a proof for 144 hour visa free transit eligibility within the itinerary: X country (different than both mainland China and Hong Kong) - China (Guangzhou or Shenzhen) - Hong Kong.
As you can see, she is eligible to do everything you have mentioned with the exception that she will have to travel between Shenzhen and Hong Kong by ferry as described above.
In case that she plans to fly immediately from Hong Kong airport, without visiting the city, then she will book a ticket from Shenzhen Shekou port directly to HKIA Skyper through the same website. Like this she will greatly simplify the entire procedure regarding the formalities within the transfer from Shenzhen to HKIA.