I don't think so. I would suggest staying an extra night on the peninsula. That said, I could find activities to fill my time if I had a day in any of those cities - Numazu has Baird Brewery, which might be worth a stop for a craft beer fan. Shizuoka has a museum devoted to Keisuke Serizawa (a kind of Japanese William Morris), who made some gorgeous textile art, and Hamamatsu has a refurbished inn ...
Fantastic regional food? I've had good seafood. The region produces a lot of eel, tea, wasabi ... but I'd never thought of it as a particularly outstanding gourmet destination. Don't get me wrong - I like the region. I find that Shizuokans are often relaxed, friendly, and hospitable.