advice on future visits?

Thank you for asking. Officially, the state will reopen fully for tourism on Oct. 8, so you're not too far away. In reality, the island needs tourist dollars now to keep everyone employed. As long as you totally avoid Lahaina, and maybe even resorts too close to there like Kaanapali, you should be fine. Honestly at the moment there are hardly any tourists, and all locals are hurting economically. If your group showed up tomorrow in south Maui not only would no one blink an eye, but you'd probably get some extra aloha.