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I agree with scottca075’s recommendations. The hard part will be to decide to go see the north shore, or the west side - either way you’re sure to see Kauai’s beauty! Depending where you stop for lunch I recommend Chicken in a Barrel - there are several on Kauai, or one of the food trucks in Hanalei.

Kalapaki beach next to Nawiliwili is a nice beach with restrooms in the park behind the shopping center, and at the far end of the beach by the elevators. Several nearby shops offer chair and umbrellas, as well as boards for rent.

We liked Smith’s. It’s a few miles down the road from Nawiliwili in Wailua. The food is decent, and the show is nice. It’s a large facility, so it can get crowded. https://www.smithskauai.com/garden-luau/ There are several others close by, but we never went to them, so I can’t make any recommendations.

When we lived in Lihue we would typically take our visitors on a tour up to Waimea canyon, and Kalalau lookout. From Lihue we’d head west on Kaumualii highway and make a stop just past Kalaheo at Kauai coffee. It’s a great spot to sample Kauai grown coffee, and hit the bathroom. Next, we’d go to Waimea and head up 550 and drive all the way to the end without stopping until the Kalalau valley overlook (Puu O Kila lookout). We found it’s usually less cloudy earlier in the day, thus the beeline to the top. We’d then head back down the canyon and stop at the various lookouts. On the way down we’d go right on Kokee Rd which goes to Kekaha. Once back at Kaumualii Hwy go right to check out Kekaha beach. Turn around whenever you want, then head back east towards Lihue. We personally rarely stopped in Hanapepe, but you could if you want, On the way back, time permitting, you could drive down 520 (the tree tunnel) to Koloa, and possibly Spouting Horn. Once back to Kaumualii Hwy go right, and then right on Kipu Rd, then a left on Hulemaulu Rd. Follow that all the way back to the port while stopping to see Menehune fish pond. A nice alternative is a south side beach day and hike. Poipu beach has life guards, good snorkeling, and more often than not monk seals. A really nice hike along a rocky coastline is near the Hyatt at Shipwreck beach in Poipu. Just follow any trail near the cliff and go as far as you like. We avoided the beach there especially in the summer due to the rough water.

Former Kauai resident here… hanging out at Kalapaki beach is a good option with only a 5 hour stop. Make sure to check out the courtyard, and reception area at the resort where you’ll find art, sculptures, gardens, and more. There are several pretty good restaurants across the street at the “mall.” We like S.E.A restaurant’s avocado curry, and drunken noodles. Several shops in Hanalei in either shopping area rent chairs, etc. for the beach.

There is some parking along the road by the park between the Harbor mall and port entrance. There used to be paid parking across the street from the mall for ~$20.