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Visiting Kauai...NEXT WEEK!!

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Hello all! It's been a long time since I've frequented the Fodor's forums, but since they have been such a huge help to me in the past, I figured I would return to this wonderful world of travelers.
A little bit of background:
My parents go to Kauai in October every year, and have started taking one child+spouse on these yearly trips! This year, my husband and I are their guests. Lucky us!
My parents have their "must-see" spots, but go to the same places every year, and they turned to me...the avid researcher of the family to get some info on new sites.
We are staying at the Westin resort in Princeville (on the North shore) and have the following activities already planned:
1. Waimea Canyon
2. Wailua Kayaking
3. Mountain tubing at the Lihue Plantation
Other than these activities, we're pretty open. My dad is an avid hiker, and has his favorite hikes, but are there any hidden "gems" that are a must see? My husband loves anything off-roading or thrill-inducing. I am a history lover, so my favorite outings usually include beautiful scenery with ample historical points of interest. What is a "must see" for someone like me? Where should we snorkel? Also, my mom and I are pretty much out of commission for really physical activities (she just had foot surgery six weeks ago, and I'm almost 7 months pregnant), so what are some relaxing activities that we can do while the "boys" are out being adventurous? Thanks in advance!

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