I have encouraged people to take this route itinerary many times here. The weather the next few days looks almost ideal.
The municipal marina in Manteo is right downtown and well run. There is also a no-services town dock next door. Shallowbag Bay Marina is more resort like but a bit of a walk or bike ride to the downtown. There are excellent walking and bike paths almost the length of the island north of town. A fun thing to do is rent a car; the local Ford dealer used to, at least, or when they didn't have cars the Enterprise over in Nags Head would come get you. Then you can go check out Wanchese, the very active boat building and commercial harbor of tat part of the state, plus on over and down to the national seashore via the bridge over Oregon Inlet; very pretty.
Ocracoke is great, but still in recovery from the flooding last year from Dorian. The newspaper keeps a site of what's open. Great beaches, also fun to rent bikes or even a golf cart. The Anchorage is the commercial, more resort like full service marina, the National Park service docks a re a bargain but more bare bones. We always anchored there in the excellent Silver Lake Harbor, with a good dinghy dock.
For us, there is just no reason to take the ICW if the weather is halfway decent, and bypass these two outstanding destinations. You'll want to spend at least two or three days at each.