I know it can be daunting because the Cape is actually bigger than most people think. It could take you two hours if you base yourself in Falmouth and want to get to Provincetown, which are pretty much the two furthest destination from one another on the Cape. Not that two hours is a huge chunk of time, but when you want to maximize every second of your trip, it could be a bit of a hassle.
The good news is, there really isn't a bad town to stay in on the Cape. Each town has its own charm and atmosphere, and it's really all about deciding on your priorities. And, you really can drive to most places depending on where you stay, so you certainly won't be tied down to just your local surroundings once you settle in.