We just did that Hawaii cruise in December 2023, we loved it.
We flew in one day before and booked hotel for one night at Waikiki beach, it is short ride on Uber and just spend evening walking around.
Next day took Uber to the port - got very interesting conversation with driver about the Honolulu history, all for the cost of tips
On the cruise first stop was at Maui, ship stayed there for 2 days, we booked car at the airport for both days, took Uber to the airport and back. For the first day we went to drive on road to Hana - there is so much to see. You can look online for maps and itinerary, we got one with guided tour from Guide Along - it cost us like $15 , guided us through all points of interests and we learned so much about Maui history. There are tons of waterfalls, botanical gardens, view points and beaches with huge turtles. Only thing is - we should turn around earlier than we did as returning after dark was not much fun on narrow mountain road with a lot of one line bridges.
We dropped our car near the port at grocery store parking lot overnight and went next day to the Haleakala National Park to see volcano crater. We saw people on the buses from our ship there, rushed through view points, and we took our time and enjoyed our visit there at our own pace.
Next stop was at Big Island at Hilo, we bought excursion from the cruise, went to see volcanos which was great as we get to walk through forest and on the rim of the crater, then went to the view point of volcano crater that was getting active. After that they took us to some random hotel on the beach for mediocre shopping. All was about 4 hours but twice as expensive as we spend for 2 days renting car on Maui.
Next day was at Kona on the other side of Big Island, we also got expensive tour through the ship but is got canceled. So we just walk at the city, they had there great farmers market and we got some wonderful papayas, mangoes and pineapples there to take with us on the ship. And then we took the trolley to see little bit more of the city. It was good relaxing day.
Next stop was on Kauai - we found local tour guide. We booked private tour that was absolutely wonderful. Lady picked us up at the pier in her car and was driving us all over the island. It was the highlight of the whole trip, she asked us what we like to see and we said - all of it
It was 2 of us and guide for 8 hours. that day we made best pictures and actually got the feel of the Hawaii. It cost us like $700 but they charge flat fee for the group, and car is a minivan, so if you find someone to share the tour - it is not that expensive per person, considering amount of time and that tour is tailored for your interests and your speed, second day there we just walked to the beach near the the port, was lucky to swim with large turtles there.
Returned back to Honolulu and stayed overnight at the same hotel there. After checking in in hotel went to see Pearl Harbor memorial, very interesting but kind of expensive. In the morning we went on the trolley - highly recommend blue line $30/person that goes along coast line. Breathtaking views !!! and tour is guided And then again took Uber to the airport and flew home. So If we would do it again - I would not take cruise tours on the Big island but may be look for some local tours instead.
Hope our experience will give you some ideas.