If you don't like driving, don't worry; it only takes an hour to drive around the whole island from north to south. In addition, all tourist destinations have free parking and the roads are in excellent condition. In Lanzarote, renting a car is really affordable; you can get one for about 15 euros a day.
How much time do you need in Lanzarote?
Lanzarote isn't a big island, but there's plenty to do. With 5 days, you can see most of the main attractions. You won't see every corner of the island, but you'll get a good idea of all it has to offer: volcanoes, mountains, César Manrique attractions…