I know Nafplio is the place where the vast majority of folks visiting the major sights in the eastern Peloponnese recommend staying there. However, with our 4-5 nights (we're still deciding) at the end of September I want to fully consider my options and was wondering what advice folks here had. We want to see the usual sights in this area but also would like to have a bit of beach time too, and because I'll be spoiled having come from my Island paradise of Agistri, I'm very tempted by these smaller, seemingly less touristy villages: Vivari, Kiveri, Paralio Astros - especially since they seem to have affordable apartments, many with private or semi-private stone beach access (I don't require sand - for me it's about water clarity/color and easy access!)
We'll have a rental car and I know there are great beaches we can drive to, but there's something nice about a morning swim, or a late-afternoon beach time after a day of sightseeing, or just spending a full day right by where you're staying (weather cooperating, of course).
Also happy to take recommendations for any other villages that make a decent base in the area with at least a couple decent restaurants. We will be coming from Piraeus, either renting a car there and driving or taking a ferry to a Peloponnese port and picking up a car there (there seem to be a couple options in the area).