Does anyone know how much long-term parking is at the airport in Naha? 

I'm not sure. I imagine it being expensive though. You may want to try parking at Kinser and taking a cab. A cab from Kinser is about 3500yen each way. 

Are you asking for you? Because I can take B down there and pick you guys up if you need me to. 

We used Sky Parking and paid 5000 yen for 7 days.

It was super easy to do. We just called and made our reservation. They met us a the terminal and took our car and parked it at their facility.

Then, we called them once we got to baggage claim and they drove our car to us. 

Okinawa Hai! has two articles on airport parking. Read thru the comments on each for update information and tips.

1) OH! - OPTIONS FOR CAR when flying out of Naha Airport

2) OH! - SKY AIRPORT PARKING 

Thanks, guys!

LLIO- B is gonna find a ride and then I think A is going to park my car down there before we get back since she is borrowing it while her in-laws are visiting. Thanks for offering though! :) 

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