Driving from SJ Airprt to La Fortuna, Manuel Antonio, Osa Penisula and back from Dec. 4-18, 2018

Hello,
My husband and I will driving all of the places stated above… not sure where to leave car when traveling by boat to Osa Penisula… I know we will need a 4 wheel drive also and need advice of what type of vehicle to rent… Would like to rent from you suggested car agency… Any information would be so appreciated. Thanks, Misty