Do it by bike sometime. Head west on Beretania. Eventually they merge. Granny gear most of the way I think. The shoulder's not bad most of the way, so the cars don't encroach too close.
Some bits are cagey though.
Very soon after you get back on to Pali Hwy, there's the turnoff to the Lookout. Take your bike right up to the precipice. In addition to the view, for a further reward, zoom down at almost 30 mph back toward town. OTOH you could go down to Kailua at 35-40 mph on the windward side. Be sure to scream loudly when you are in the tunnels.