Best Kiso day-plan by car?

I'm planning to drive from Matsumoto to Takayama via the Kiso Valley in one day.

I was hoping to see the Kiso valley area, and ideally I'd like to get the post-walk in.

Can anyone suggest an itinerary that would make the most of the day. I'll have time on either end in Takayama and Matsumoto, so I'm happy to leave early and arrive late so I'll have "enough" time do to Kiso well.

I'm just sure where it is best to park and walk to and from (between Magome, Tsumago and Narai)?

Which would provide the most different experience from Takayama and Shirakawa?

Thanks in advance!

Most people tend to walk the Nakasendo highway between Magome and Tsumago.

A possibility would be Magome (Park here), walk to Tsumago and catch a bus back to Magome.

Others may have other ideas....

Is there a recommended bus to get back to the parking lot and does anyone know what Parking costs are in Magome for a couple hours?

Is there a recommended bus to get back to the parking lot and does anyone know what Parking costs are in Magome for a couple hours?