Thailand without scooter/moped driving. Still just as good?

We are travelling to Thailand in Februari. The plan is Bangkok > Chiang Mai > Ko Tao > Ko Samui.Neither of us have ever driven or know how to drive on a scooter. We do have a licence.

Will we miss out, especially Chiang Mai/Ko Tao/Ko Samui if we don’t drive a scooter?

We’ve visited Bali a couple of years ago and didn’t drive a scooter. Still we kind of feel that we “missed” something because we didn’t love Bali as much as a lot of other people do. Don’t know if it has to do with driving a scooter but that’s what we feel. Finding a taxi was a hassle so we kind of stayed a lot in the places where we booked our hotels.

EDIT: I’m mostly wondering about the islands! Not that worried about Bangkok and Chiang Mai as finding driver there is going to be decent.
But I read that Ko Tao has really narrow roads which are hard to navigate with a car and taxi’s really rip you off in Ko Samui.

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