I would use "just a few" in both your examples. "
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HelaThe beach is:a) just a few / few minutes from here.You can add 'just' or 'only' or nothing, as you wish, but you need 'a'.
.................................b) a few / few steps away from here.
Hela1) Few of the students understood the lesson. Correct or incorrect ? = Few students understood the lesson. ?2) Only / Just a few of the students understood the lesson. (= Only a few students... ?)Both 1) and 2) are fine.