I'd go back, we went to Marmaris first, Armutalan area. Stayed at Club Atrium not knowing where to go etc. Then Icmeler for 4 years on the trot and going there this year as well.
There is a lot more choice of accommodation in Marmaris however.
So in actual fact would now book nearer the centre as you have the energy to explore more.
We walked extremely slowly into the centre - not recommended in the heat and found some good places on the beach front. Had a meal at the harbour another night saw sun go down, was fab.
I quite enjoy the drive through Marmaris and think that main busy bit before it hits the mountain road again is quite nice to stay in, the beach might be wider as well, but not sure about that.
Bev