Walks and places to stay in/around Connemara

Hello
We are a 30 something couple planning a 6 night west coast drive in early/ mid sept. Spend 3 nights exploring Connemara, theburren, cliffs of mother and then 3 days further south near ring of Kerry.
We like exploring the outdoors.. Hiking (walking), kayaking mixed in with exploring cultural historic sites.
Places that looked interesting as a base for exploring this area- Clifden, Westport, Letterfrack, Kinvara?

Was hoping to stay somewhere that has easy access to walking and outdoor activities but also good places to eat and drink and generally explore in the evening. If you can recommend any hotels, that would be great too.. For once we are planning to splurge on the hotel a little and hopefully stay somewhere with a nice view, nice grounds for walking

Also - any favorite day hikes you can recommend in this area/ Connemara national park?

Thanks for your help!