I live across the bridge from Destin and can be on the water in about 6 minutes (assuming it's not a Saturday when the rentals turnover). Yet, when I want to go to the beach, I usually drive the 50 minutes to Navarre. Destin is packed full of tourists and the condos think they own the entire beach. They put up plastic chains and umbrellas side to side, right at the water line to block the public from using the beaches. Unless you have a water front condo, you'll be confined to a couple dozen yard wide strip of sand at most beach accesses unless you pay to go to Henderson beach. The reality is that the condos don't own the beach below the erosion control line where much of the Destin beach was renourished by the state years ago. And regardless, ordinances prohibit vendors from putting anything within 20' of the wet sand, yet that rule too is ignored.
There are a ton of restaurants in Destin, and lots of tourist things to do, but everything is packed during season and it costs $10 to park (plus $8 to cross the Mid-Bay Bridge).
Navarre is much nicer. Far fewer tourists, better beaches without bullies, and less traffic. Though, 98 can be a bear at the Hurlburt gate at certain times or if there is an accident. Navarre gives you easy access to Destin if you want to play tourist and it's not far from Pensacola if you need a day in the city.
If you have beach front house money, you may want to look at 30A around Grayton or Seaside. Otherwise, I'd say Navarre.