We've been up there several times right around the fourth of July. My wife likes to stay at the Stanley Hotel. I think every time we've taken either the Miata or SLK250, so the Audi should be OK. The roads are more fun to drive in a sporty car but it doesn't take long to get stuck behind a giant Prevost motorhome.
We have hiked many of the popular trails and they can be more challenging than the guidebook rating suggests. You can get an idea by hiking from Bear Lake or Glacier Gorge to Alberta Falls, which is usually listed as easy. Last time (2018) we brought walking sticks which were useful on less-traveled trails and went all the way up to Sky Pond, a considerable climb.
There's still some smoke in the air so long distance visibility isn't perfect. Long telephoto shots might be limited. In July, afternoon showers are common so I like to have a weather-resistant lens. The APS-C combination I use for a longer hike is a DA 18-55 WR on the camera, a DA 50-200 WR when we stop and rest, and a DA 10-17 for extreme wide angle top of the world shots. All those lenses are very light and fit in a cargo short pocket. From your list, the 16-85 and 55-300 would cover it. September is elk season so you should see them even in town. For evenings around town I'd use a Limited prime and that could be almost anything from your list. Probably a good time for the FA Limiteds and the K-1. Estes Park has pretty dark skies so the stars might be better if the smoke situation improves.
---------- Post added 09-03-20 at 01:19 PM ----------
Originally posted by swanlefitte When you are driving surprise wildlife around a bend is possible and fleeting. We saw a bear at 100meters and a herd of elk almost upon us. A telephoto and normal lens are good to have ready because you might not have time to switch.
We were on Trail Ridge Road just above the Rainbow Curve Overlook and some elk came out of nowhere, bounded across the road and disappeared down a steep slope/cliff. Fortunately I was going pretty slow.