I grew up vacationing near Estero Beach and now own a home in a neighboring site. Estero is a great place to spend a day, and the locals are very friendly. I have sent friends/co-workers to vacation at Estero Beach and they were very, very happy there.
I highly recommend the restaurant there. Near the entrance to the resort is also my favorite taco stand, "Super Burro". Maria makes excellent carne, pollo, fried fish and shrimp tacos/burritos/tortas. If you want to sample some good local food, I would definitely recommend Super Burro.
Have fun!
Kelly