We are trying to put a self drive tour together. We like smaller, more quaint hotels and inns. The Park Hotel in Kenmare looks lovely. How about Dingle...the Milltown house looks very nice also.
Any suggestions would be appreciated?

In Dingle I can highly recommend Castlewood House. Beautiful views from upscale rooms. Fabulous breakfasts. Walk to restaurants & pubs.
Award Winning Accommodation Dingle (castlewooddingle.com)

We've had drinks one night at the Park Hotel but have not stayed there. Looked lovely.

Loved Kenmare and Shelburne Lodge was our favorite B&B in Ireland.
https://www.shelburnelodge.com/

Killarney was too busy, full of tour buses, etc.

in Dingle, another favorite place, Greenmont House was spectacular
https://www.greenmounthouse.ie/

Ireland----the isle of pleasant surprises!

If you are interested, here’s my long trip report from 2010. After that we returned 2 more times to different parts of Ireland and plan to return again, maybe this fall 2022.

In Dingle, you cannot do any better than Castlewood House.
Award Winning Accommodation Dingle (castlewooddingle.com)

I am dying to go back to Kenmare. We considered Sheen Falls Lodge in our trip last Fall. We did go by there and it is a beautiful property..admittedly not inexpensive. Our driver discouraged is from staying in and around Killarney if we came back to Ireland. I got the impression some of the hotels in the area can be a bit shady. I am not a local obviously but I don’t have any reason to doubt his judgement. Even without that advice, I’d stay in Kenmare.