What tour/excursion can we take on Sao Miguel to make it interesting for our teenage kids

Our family of 4 are spending a week in Sao Miguel at the end of May. My wife and I love history and nature, so we would be happy doing all the hiking and gardens and museums. But we are afraid that our two kids (one is a teenage boy, the other is a 20-yr old girl) are going to be bored. Does anyone have suggestions on a couple of exciting tours that we can take? Something that’s interesting for the parents in our 50s and kids in the late teens and early twenties.

We will have a rental car, so it’s already in our plan to go to all the known highlights such as thermal pools, black sand beach, Sete Cidades and etc.