We did the Amalfi Coast drive and it was very beautiful. We booked a private tour guide that picked us up at the ship, then took us along the Amalfi Coast. We did stops at Ravello, Positano, and Amalfi. I felt that some of the stops were tourist traps and there really is nothing there to see except a few shops w/ high prices. The drive itself was nice. We stopped along the way at a restaurant along the side of the mountain and had lunch.
It is very doable and is not scary. Yes, you are riding along the coast on narrow roads but definitely not scary. We had an excellent driver. As a matter of fact, we had 16 cruisemates and 2 vans for the drive. We had a nice day.
We have been to Capri and took the hydrofoil over. We had very rough seas that day and didn't stop at Sorrento. It is scenic there but I think that I would choose the Amalfi Coast.