Advice on 2 days in Kakadu out of Darwin for 5 adults

Wanted advice on Day 1 Ubirr, Nourlangie Rock, Cooinda, Twin falls or Jim Jim Falls,

Day 2 Adelaide River for the jumping river crocodiles,Katherine Gorge maybe twin falls if it's not possible the previous day.

Our goal is to see Wildlife, swimming in watering holes, beautiful hikes and the Rock art.

Would it possible to do Maguk or Cahill crossing as well? what should be the best schedule?Which tour operators do you recommend? Thank you