I need a nap after reading your itinerary. Have fun.
In Baltimore, drive right downtown and park near the inner harbor. Lots of garage parking there. Walk to the Inner Harbor from your parking spot, it is a nice tourist place with everything on your list accessible from there.
At the Inner Harbor you will find the aquarium, an old WWII submarine you can walk through, Maryland Science Center, USS Constellation, shopping, food and the WATER TAXI that you can take to Fort McHenry. You can take the ride-all-day-for-one-price water taxi to several different spots including Fells Point with old architecture, pubs and restaurants.
If you drive to Fort McHenry you can NOT park there and take the water taxi. You can only depart by water taxi from Fort McHenry if you ARRIVED by water taxi. (They don't want people parking at Fort McHenry and then taking the water taxi to the Inner Harbor and hog all the parking spots at Fort McHenry).
Enjoy.
Ed
