Kailua-Kona
Easy, flat, walkable strip along Kailua Bay past Mokuaikaua Church and Huliheʻe Palace, ending at oceanfront restaurants for sunset dinner; good low-key evening for travelers already based in Kona town.
No admission fee and no reservation needed for the walk itself; free and metered public parking along Aliʻi Drive and in nearby lots. Dinner is separate: reserve ahead at an oceanfront restaurant (e.g. Kona Inn Restaurant, Kai Eats + Drinks) for sunset seating, especially in high season.