We are going to Bali in March for the first time and would appreciate comments on our proposed trip plans. We are thinking of using Kensington tours for our guides/driver. We would like to add another waterfall, but steep slippery paths are a problem.
Is it worth visiting Penglipuran village? Tenganan village?

day 1: arrive from US; stay in Ubud
Day 2: Ubud: Market, Agung Rai Museum of Art, Tegenungan Waterfall
Day 3: Nyepi Day Holiday so will stay at hotel
Day 4: Pura Ulun Danu Bratan and Jatiluwih rice terraces
Day 5: Ubud Monkey Forest (?) and Tegenungan Waterfall
Should we add Penglipuran village and Pura Kehen?

Option #1
Day 6: drive to Candidasa
Day 7: Tenganan village (?), taman sukasada Ujung, Tirtagangga water palace.,
Day 8: drive to BEnoa port to leave Bali

Option 2 got to Seminyak instead of Candidasa

Tenganan was, for me, a highlight of a highlight-filled visit to Bali. If you have any interest in textiles, I’d urge you to make it a priority. Even if textiles leave you cold, Tenganan is unique and IMO very special.

I adored the driver with whom I worked while in Bali – knowledgeable, kind, and helpful, he truly enhanced my experience there. If you send me a private message, I’ll see if I can put you in touch with him.

Before going, I had questioned whether I would visit the Monkey Forest. I’m glad I did!

If you haven’t already seen it, you might find some useful information in my trip report. The section on Bali begins with post # 128.
A Memorable Solo Month in Singapore, Java, and Bali

I think in general it's a great itinerary. For an easier waterfall we did Tibumana, it was easily accessible and still pretty (plus it was close to Ubud). For me Tenganan felt more authentic and happens to fit well if you're heading to Candidasa. You can check many blogs on each destination, like ferryhopper’s Bali blog, it has some great travel tips.I hope you'll enjoy it!

Balinese here

I would recommend to Penglipuran village, but if you are from Ubud it needs 1-2 hours to penglipuran because the street is so small via kintamani. And the street is up and down

Welcome and enjoy in Bali