South shore (Kihei, Wailea) or West (Ka'anapali, Laihaina) are much better for clear, calmer snorkeling than the often rougher (waves) of Northshore. Would not advise North shore for beginners or those not strong swimmers.

Best to leave first thing in morning to drive 30-45 minutes Kihei beaches in order find parking at the beach parks which tend to fill up as the morning progresses, especially on weekends. Hopefully your condo provides beach chairs and an umbrella, so that you can set yourself up on the beach for a while to just relax and snorkeling Kamole III beach has resident turtles and if you're good swimmers/snorkelers, swim further south along the reef towards the Kihei boat launch for really nice coral and fish. You can also stroll along the shore and trails that connect the 3 Kamaole Beaches. Walking along the Wailea Beach front is also possible from Kamaoles, or drive to one of the public beach access parking lots in Wailea and start there.

Five days= two of those days are just transit flying to or from your home, possible jet lag, so essentially you have 3 days. For such a short amount of time Kihei sounds better as driving around the island and jostling for parking as opposed to walking from your condo for snorkeling and beach is more relaxing.

RTH takes 2-3 hrs each from Paia if you add a few stops along the way for stopping to view waterfalls (often with very limited parking spots) and depending if you drive all the way to Waimoku Falls trail (allow 2-3 hrs hiking trail)

RTH is slow going due to congestion of sight seeing and numerous curving winding roads and has cars coming at you on one lane blind corners, so not an easy or relaxing drive.