Golfo Paradiso

https://www.walksofitaly.com/blog/liguria/italian-riviera-golfo-paradiso
I'm not sure about the other towns, but from Camogli, you can walk into the adjacent Portofino park and walk to Portofino and Santa Margarita Ligure. Most of the hiking is quite easy, though there is one path (indicated with signage), that requires holding onto chains.
Ferries and buses connect these towns as well, so you can do one-way walks.
For transport to the other towns, check Trenitalia.

We spent a week in Camogli this fall as we were concerned about Cinque Terre crowds. It was very relaxing and untouristed. Most other travelers were Italian with some Brits. We enjoyed walking the old train tunnel trail between Framura and Levanto (great for a rainy day or a hot day, especially). We did not hike the peninsula but took the ferry out to San Fruttuoso, which was very interesting. (Go early!) The gondola at Montallegro leads to some hiking and I wish we had timed our outing to coincide with lunch at the Casa del Pellegrino as it is a lovely location! Alas we were early birds.

Years ago we did the walk from Santa Margherita to Portofino then took a boat back to SML. That was fun and unique.

On this trip We did go to Vernazza and Manarola one day, just to revisit old favorites and lunch at da Billy.

If you stay in Camogli, don’t miss the pizza at Cafe al Teatro.

You can also take the boat from Camogli to San Fruttuoso and on to Portofino, dink around Portofino for a bit and then walk from Portofino to Santa Margherita. Take the bus back to Camogli. That's what we did and we enjoyed it.