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driving recommendations from Cork to Killarney

My wife and I are driving from Cork to Killarney, but we haven't decided on a route/itenerary yet. Does anyone have any recommendations? We enjoy hiking, outdoors (so we would love to see the Beara or Sheep's head peninsula), but we also want to take in some ruins and historical sites. Should we bypass a lot of the drive so that we can save time for the Killarney National Park? Which peninsula is the best for driving and short hikes, Beara or Sheep's Head? Thanks!
Shane

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