Travel to San Juan Islands in Washington

My wife and I are planning a trip to the San Juan Islands for later this summer. We're in our late 70s and reasonably healthy. We're planning on driving, however, it sounds like reserving space on a ferry for a car is a pain in the rear. We'd love some feedback on which island, restaurants, hotels etc. We're currently looking at Orcas and San Juan Island for our stay. Possibly staying at Rosario Village. Any info would be helpful, thanks.