I have always gotten good advice from Fodorites so here goes.
We're arriving in Auckland at 5:30 am from Melbourne and thinking of how to best do the 5 days we have on the north island, Thinking of going to Waimoto Glow Worms on the way to Rotorua area where we will need to find accommodations ( recommendations welcome) for 2 nights. Thinking of Maori cultural experience and hiking and would love suggestions, ie. can we do things on our own, or are we better off on guided excursions?
Then drive to Lake Taupo area for 3 nights. Recommdations for lodging also welcome here. Stop anywhere on the way? Definitely hiking, Tongariro Alpine Crossing on our own or with guide? other special walks/hikes/sights you loved?
We then drive back to Auckland for our flight.
Does this sound reasonable? We are 73 and in good health and good shape.
Thanks in advance.

Hello,
You can find my suggestion for the 5 day North Island self drive tour below:

DAY 1 : ARRIVE AUCKLAND

On arrival in Auckland, ‘The City of Sails’, self drive passengers will collect your rental car at the airport and drive to your hotel.

DAY 2 : AUCKLAND - ROTORUA

Farewell the ‘City of Sails’ as you travel south to reach the market garden area of Pukekohe. Continue through Hamilton – New Zealand’s fourth largest city and the fertile Waikato region to the ‘Thermal City’ of Rotorua.

DAY 3 : ROTORUA

Visit Te Puia Thermal Reserve to see boiling mudpools and roaring geysers. Following this, visit Rainbow Springs to see New Zealand’s trout, birds and wildlife before continuing to the Agrodome for a New Zealand farm show featuring sheep dog demonstrations, cow milking and an introduction to the stars of our sheep industry. The afternoon is at leisure. You may like to visit Polynesian Pools to relax in the healing thermal waters. This evening enjoy an authentic Maori Hangi (feast) and Concert.

DAY 4 : ROTORUA - WAITOMO - AUCKLAND

Travel over the forested Mamaku Ranges to reach Waitomo. Enjoy a guided tour of the world famous Waitomo Glowworm Caves including an underground boat ride viewing the millions of glow worms on the cavern roof. On completion continue through the fertile Waikato area to reach Auckland.

DAY 5 : DEPARTURE DAY

Your arrangements conclude today with a departure transfer or the return of your rental car.

Dates for this holiday? Then we can advise accordingly.
You've planned too much for 5 days. Waitomo Caves are not 'on the way' to Rotorua! Neither is Taupo a good base for doing the Tongariro Crossing. You need a guide if you are doing it in the winter season.
Roberttoth5793 is an AI bot writing rubbish - take no notice.

Hello Tarakona, This 5-day self-drive tour was provided by one of the tour operators in New Zealand. This is not AI-generated rubbish!

Our trip is next February. We fly from Melbourne, Australia to Auckland on Febraury 17-18th arriving at 5:30am. I realize that Waitomo isn't "on the way" exactly, but it seems worth the detour. And we won't be going back to Auckoland as I originally thought, but flying out of Rotorua to head to our Backroads trip beginning in Christchurch.
I would love to stay in interesting places, rather than run of the mill hotels. Is there a better base area for exploring Lake Taupo than Taupo?

Debwhite - good time to be visiting NZ!
However DON'T start driving around the minute you get here. That late night flight from Australia means not much sleep and then you are getting a car and driving to Rotorua? Jet lag is possible from a 3 hours flight. Are you comfortable driving on the left?
Day 1 - stay in Auckland out near the airport and do something low key. Collect rental car.
Day 2 - head out early for Waitomo Caves, do a lunch time tour then head to Taupo.
Day 3 - Tongariro Crossing? If you chose this it's a 'big day' especially from Taupo as it's a hard 19 km walk the start of which is about 80 km away.
Day 4 - Drive to Rotorua - it's about 1 hour away. Explore Rotorua if you legs can cope...
Day 5 - Flight to Christchurch.
If you skip the Crossing there's plenty to do in Taupo. AS you are heading next to Rotorua there is not much point driving south to stay somewhere else as you are ultimately going north again. Taupo is fine for a base. Check out some Air Bnb's for accommodation. There is about 2 hotels in Taupo as most Kiwi's prefer motel accommodation. Motels here are good quality accommodation with kitchen facilities and often in Taupo they have a hot pool. Not a hot tub - a hot mineral water pool. If you have the budget have a look at Huka Lodge - a luxury lodge right by the river and Huka Falls
Roberttoth5793 - I doubt that tour operator has never been to NZ! You do not go through Pukekohe on the way to Hamilton....

Your plan sounds fantastic! After arriving in Auckland, pick up your rental car and head to the Waitomo Glowworm Caves. The caves are a magical experience and make for a great stop on your way to Rotorua. Once in Rotorua, you can visit Te Puia or Tamaki Maori Village for an authentic Maori cultural experience. For accommodations, consider the Regent of Rotorua for luxury, Jet Park Hotel for a mid-range option, or Rotorua Thermal Holiday Park for a budget-friendly stay.

In Rotorua, you can also explore the Wai-O-Tapu Thermal Wonderland and the Redwoods for some great walks and geothermal sights. Then, head to Lake Taupo for three nights. The Tongariro Alpine Crossing is a must-do hike, and you can decide on a guided tour based on your comfort level. For lodging in Taupo, the Hilton Lake Taupo is a great luxury option, Acapulco Motor Inn is a solid mid-range choice, and Lake Taupo Holiday Resort is perfect for budget travelers. Your plan to drive back to Auckland for your flight sounds reasonable and well-paced.

Thanks for the suggestions.
We are now wondering if it makes more sense to head from Waitomo Caves to Taupo and stay for 3 nights, doing Tongariro after sleeping well for 2 nights. WE know the first day will be a big push, but we will end it early and go to bed right after dinner. Then heading to Rotorua for the last 2 nights to see Maori at Te Puia and Redwoods in Whakarewarewa. This means no backtracking from Rotorua to Taupo also taking different drives. May do Huka Falls on low key first day in Taupo or possibly a bike trail ( Ohakune Old Coach Rd.) We found a ton of options for lodging in both places so made refundable reservations to have them).
anything I'm missing? Just wondering about the sulfur smell in Taupo and Rotorua ( we have been to Yellowstone ). Should that inform the location of our lodgings?

Just now seeing this post, Kate, ,Thanks for your vote of approval. What do you think of us doing Taupo and Rotorua in reverse? WE could go either way, frankly.

"We know the first day will be a big push but will end it early by going to bed after dinner"
Your exhaustion level is not the main issue here! What about your driving ability on unfamiliar roads in a strange car and on the left instead of the right? Many accidents happen with tired tourists. It's the equivalent of me flying into JFK in New York - hiring a car and driving to Wilmington, Delaware after 3 hours sleep.
Taupo does not smell but Rotorua does. The Hilton Taupo has gone down hill lately. The most luxurious place to stay would be Huka Lodge.
I had a break from answering travel posts here on Fodor's because of this type of ridiculous itinerary.