At least 2 days with a rented car. Day 1: From Naha up north, passing by American Village, Onna, Churaumi Aquarium, and Kouri bridge. Can consider to spend a night at any resort in Onna. Day 2: Towards the eastern coast, Ryukyu castle, Gyukusendo cave, and Kokusai street. Can add in a day to spread out the hectic itinerary. If you wish to do island hopping, then will need a few more days. We haven't tried visiting any other Okinawan islands though.
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Thank you very much for your answer. It looks like 5 or 6 days will be the target then. The Aquarium is definitely on the agenda, I just can't wait to show it to my little boy ;-) And then some boat trips around the islands ; can't wait!