The Chinese-style garden in Central Naha (Fukushu-en, on the southwestern side of Matsuyama-koen) is a pleasant place to spend a couple hours. You can park seemingly for free at the perimeter of Matsuyama park. Admission to the garden is free. There are multiple ponds, one of which is stocked with turtles. There are also pagodas, all apparently of recent construction, which frame different perspectives of the garden. They have some lovely unusual hibiscus.
From the garden you can walk to the waterfront, check out the town beach, and also stroll along the waterfront park, which is home to a large homeless-person encampment. The road fronting the beach and park is lined with love hotels, should the mood strike. Nearby is also Naminoue Shrine and Asahigaoka Park, worth a walk-through. There are views over the love hotel rooftops out over the watery construction site of a new bridge/road. There are three parking spots in front of the shrine.