Sun Realty's website gives a very brief description of each town under Outer Banks Info. We stay in South Nags Head down Old Oregon Inlet Road, which is, obviously, further south than Nags Head and much quieter and more residential. We like the peace and quiet, but we're also not far from tons of restaurants, various marinas and piers (we like to watch the fishing boats come in), etc. Like you, we really like to explore and take frequent driving trips, and we feel like we're centrally located; we go down to Hatteras, over to Manteo, up to Duck and Corolla. There is tons of history in the Outer Banks. We rented through Sun Realty for several years and always had a great experience. This year we're renting through Beach Realty because they have a particular house we've wanted.
I'm really not familiar with the DE beaches so can't compare.