From Reykjavik you can reach Seljalandsfoss, Skogafoss, the Solheimajokull glacier tongue and the black-sand beach at Reynisfjara and return the same day. It is a long drive and it is worth it. Going with a guide removes the winter-driving question entirely, and glacier walks require one regardless.
Our notes
Reynisfjara's sneaker waves are genuinely dangerous. Stay well back from the waterline; people die there most years.