You can book from Mumbai to goa tour packages and take each to cover North & South Goa. When you book from Mumbai to goa tour packages, you will be able to drive to nice views and then you will also be able to enjoy the whole trip to Goa without any hassle. https://www.tripoto.com/goa/tour-packages
If you are staying in Panjim: Day 1: North Goa beaches ( less crowded one) - Morjim, Majorda, Ashwem,Arambol and Tiracol fort ( Goa Mh border) 7-8 kms from Arambol beach. Day 2: South Goa beaches( less crowded one) - Cola, Agonda, Palolem, Cabo de Rama fort Day 3: Bondala forest or Doodh Sagar falls. Day 4: Panjim in and around. Boat trip to Bat island ( half day trip).