I'm traveling with my adult daughter in June. She will have already been in Dublin for 5 days when I meet up with her and I've been to Dublin before so we will probably only spend 1 night on either end of our trip there. I want to spend the majority of our time on the west coast. I'm debating between renting a car because it will give us more flexibility but may make the trip more stressful vs using a driver or tour company. I generally avoid tour groups because I like to be independent and not with a crowd. Some of the places I'm interested in are Kerry, the Dingle peninsula, Doolin (I stayed here many years ago and it was a highlight), Galway, and possibly Donegal, but that may be too much.
We prefer an active trip with hiking, rather than just visiting scenic overlooks.
I'd appreciate advice on self-driving vs tour and itinerary help.