We will be driving from Galway to Dublin and would like to stop in a small town for lunch and some exploring. Any suggestions?
For exploring : the monastic site at Clonmacnoise on the Shannon - a great place to stroll around for an hour or two without the crowds of Glendalough.
For lunch: the village of Athlone about a half hour away.
Thank you, Athlone looks perfect!
Second vote for Athlone. I spent a night there in order to see Clonmacnoise, and visit the castle, which has an interesting history being right on the river.