While renting a car is ideal for exploring Maui on your terms, there are also shuttle and public transit options. Taxis, Uber, and Lyft are available in towns, but they can be expensive. The travel time varies according to traffic congestion and the time of day you travel.
If you have extra time, add a visit to Kaanapali Beach and Iao Valley State Monument. If you have less time, consider a shorter Road to Hana Tour to focus on highlights. Make sure to check the weather forecast to plan accordingly for the day.
There is one main airport in Maui, Kahului Airport (OGG), located in Kahului town, which is approximately 15 miles from Lahaina.