Where are you going after Galway?
However, you will be tired after your transatlantic, so be careful not to push it.
If you moved Galway forward a day or so, you could get some good tours in county Clare from Loop Head to Ballyvaughan and the Burren - but you should manage a quick stop at the cliffs before you go on to Galway.
On what day and at what time are you arriving at Shannon? And are we talking high season, here?
If it's earlier in the week, early morning, Cliffs are perfectly doable, even if you're jetlagged. If it's later in the day and on the weekends, there'll be huge amounts of people. (Of course, if you don't mind crowds, it's not really an issue. I personally just happen to not like crowds and will do a lot to avoid them.)
Don't worry about driving on the left, it's pretty easy to get used to. You'll most likely have the most problems when turning on or off roads, so think about that whenever turning. Just remember that the passenger in your car should always be to the edge of the road. I personally have more problems when I drive elsewhere after driving on the left. Oh, and for some reason, in parking lots/car parks. :)
You will experience some jet lag and might want to take an afternoon nap on your first day. I agree that the cliffs of moher would be a good stop that day. Also, check out the town of kinvara and castle on your way back to galway from the cliffs.
As for the driving, be careful whan you are making right turns at intersections as you might accidently move into the wrong lane as you turn.
Thank you all for your suggestions. We will keep them in all in mind. We are arriving at 7AM on Tuesday, 7/8 and spending our first two nights in Galway. It sounds like the Cliffs would work as long as we are there early and takeour time.
Thank you all for your generous response!
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