The last stop of our island hop trip few summers ago in Greece: 2 nights in Patmos, 3 nights in Leros and 3 nights in Lipsi. Then we took the ferry and back to Athens.
The distance between these three islands is very small and usually the ferry doesn't need more than an hour to get from one to the other. In summer, there are daily ferries with Dodekanisos, not only the other ferry companies.
From Lipsi I remember a very picturesque port with a long promenade and grilled fresh fish smelling from the taverns. Theologos is a good fish tavern. From the church above the village, you get great view to the Aegean. The good thing about Lipsi is that you can walk to the beaches.
Our apartment was on the way from the town to Lientou, so the beach was only 10 min walk. From the port, there is also a mini bus that goes to several beaches around the island. We didn't take the bus, we rather hired a bike for a day and made the tour of Lipsi. You will not need more than 2 hours to drive round the island.
This was the best closure for our trip to Greece that summer, really nice and peaceful, all we needed before going back to our crazy reality!