You might already be there, but we were just there in May with our two kids who are younger than yours (elementary aged). We were also in Kaanapali (Hanua Kai). The central part of Lahaina is still mostly closed off but still tons to do in the area. Road to Hana was a highlight though definitely a long day. Worth it. Make sure to book Waiʻānapanapa entrance ahead of time. Highly recommend the Shaka tour app for that drive -- lots of great info and good tips on where to stop and where to skip.
Snorkeling was great. Just check out reports ahead of time. Even just snorkeling around Black Rock in Kaanapali for a couple hours we were able to see many sea turtles and tropical fish. Iao Valley was super close and easy and incredibly scenic. You can hike further up if the kids are up to it or just take in some of the views from the paved area. Driving up to see the Nakalele Blowhole is another easy excursion that you could do in the middle of a chill beach or pool day.
We didn't do any of the high end restaurants, but people love Mama's Fish House and your kids might appreciate it more since they're older. Some of our more casual favorites were Maui Fish Market (take it to go and eat at the beach), Fruit Ninja, Leoda's. Two of my favorite meals were the Huli Huli Chicken stand at Koki Beach (on the Road to Hana) and the poke at Tobi's in Paia (we got it at the end of our Road to Hana day). We went to Duke's a couple times cause it was at our hotel and it was fine.
Enjoy!