I had the most luxurious stay of my life in Panama. Now, I want every tropical vacation to include a private island.

• I spent three nights on Isla Palenque, a five-star private island resort in Panama.
• As I dined on three-course meals and enveloped myself in nature, I discovered true relaxation.
• It was a trip unlike any other, and I now want to add private islands to every vacation.

As I pushed open the passenger door and stepped out of the air-conditioned Toyota Fortuner, my senses were immediately overwhelmed.

Humidity clung to the back of my neck. The sweet scent of nearby tropical flowers filled my nostrils. The faintest bit of sea salt coated my tongue, and the sound of crashing waves was closer than I imagined.

In front of me was a sign for casita seven, my home for the next three nights at Isla Palenque, a five-star island resort off the coast of Panama.

As I walked the sandy path to the casita's entrance, the thatched structure came into view for the first time. Every other sense — the saltwater, flowers, and nearby tropical birds — vanished.

In front of me was a stunning one-bedroom building. Daniela, one of the island's concierge representatives, said the inspiration was a coconut with its brown roof and bright white exterior.

It was the most extravagant version of a coconut I've ever seen.

Daniela gave me a quick tour of the property's amenities. There was a small tub to rinse off my sandy feet, a mini bar with complimentary snacks, two outdoor showers, and all-natural soaps.

Meanwhile, my focus was still on the sight of the casita. It was easily the most captivating place I've stayed.

Off the coast of Panama sits the 400-acre private island

I woke up bright and early on a Sunday in April, waiting for a driver to cart me away from the lush valley of Boquete, Panama, and bring me to the Pacific coast for a three-night stay at Isla Palenque.

To get to the resort, visitors hop on a 15-minute boat ride. As my driver, Carlos, said goodbye, Francis, the resort's lead naturalist guide, welcomed me onto the boat.

As we traveled through the Gulf of Chiriquí, Francis noted where dolphins are often spotted, shared the names of nearby islands, and chatted about the morning weather.

Then, he pointed to our destination, a long wooden dock. No other structures were in sight, an intentional decision to blend the resort's buildings with the surrounding jungle. After walking the dock, Francis and I hopped into a parked car and headed to my casita.

Isla Palenque is home to eight casitas and one six-bedroom villa. During low season, a night in a casita starts at $512, including meals, non-alcoholic drinks, boat transfers, outdoor gear, yoga classes, and daily excursions.

Every part of the property was a purposeful choice made by Benjamin Loomis, the property's architect and developer, who spent five years living on Isla Palenque before turning it into a resort.

The casitas were built at the jungle's edge. Steps away is a private beach, shared by a maximum of 32 guests at a time. Along with the beach, there's a communal area with a pool, a splattering of shaded day beds, and Las Rocas Restaurant and Bar, a thatched pavilion where meals and drinks are served.

There's a list of daily excursions, ranging from night walks to snorkeling to in-room massages to rum tastings, some of which have additional costs.

Nature is Isla Palenque's main draw. Guests have access to seven private beaches, or they can head into the jungle, where there's an abundance of winding trails. During my stay, I spotted green iguanas sunbathing on the beach, and howler monkeys joined me at the pool each afternoon.

There's no TV in your casita. The focus, no matter where you are on the island, is connecting with the outdoors.

I took that to heart during my first night when a storm barrelled in. I turned off the whirl of the AC unit and opened the casita's glass doors. It was like being inside a white noise machine, listening to the sounds of the ocean and rain.

The next day, I woke up and walked down the beach for breakfast. Across the resort's website, I read references to "barefoot luxury," which I assumed was an advertising ploy.

I quickly learned the phrase was accurate. A beach connects each casita to the pool and dining area. Besides hikes in the jungle, I didn't wear shoes during the entirety of my stay.

While nature can often be associated with "roughing it," that's far from the case on Isla Palenque. The rooms oozed comfort and luxury — the bed was practically a cloud, a fridge held cold refreshments, and with a simple message, I could have someone at my casita running me a bath in a large outdoor tub.

Outside my casita, everything was taken care of. I dined on three-course meals, towels were brought to me at the pool, and evening yoga classes ended with fresh watermelon juice. One day was spent on a snorkeling excursion that concluded with a picnic on a private beach, a highlight of the trip.

Beyond luxury and nature, sustainability was a the forefront of Isla Palenque. There's no plastic in sight. Some food is grown on the island, and the rest is sourced from local fishermen and farmers.

Even the furniture in my casita was built using materials from the island, and the hot water during my outdoor shower was heated using solar panels.

I'm now convinced private islands lead to ultimate relaxation

I had pangs of guilt a few days before my trip to Isla Palenque as I swam laps at Sofitel Legend's infinity pool. I was at another stunning property, and I wanted to take advantage of space, but I also had all of Panama City to explore.

If I had stayed any longer in the warm water, I would've been late for my dinner reservation at Intimo Restaurante, one of the city's top restaurants.

I spent my dinner brainstorming how I would squeeze in a tour of the Panama Canal. I debated if I had enough time to visit the Biomuseo, a popular museum exploring Panama's natural history.

On Isla Palenque, there was no guilt. When I grabbed a book and sat in the pool one afternoon, I wasn't worried about missing a good restaurant or skipping a historic tour — experiencing the island was my only focus.

My schedule was just that, my own time to designate how I wanted. So when my eyes glazed over the pages, I hopped out and adventured off on a paddleboard.

Rarely do I feel relaxed when visiting a new destination. Instead, there's a thrilling pressure to maximize time and squeeze in as much as possible.

While that feeling and those trips often lead to memorable experiences, Isla Palenque taught me that vacationing on a private island is an ideal way to relax.

Plus, I left with more appreciation for Panama. I explored the island's ancient, pre-Columbian history, connected and conversed with the property's staff, and fully soaked in the breathtaking nature that surrounded me.

When my three nights were over, I hopped back on the boat to head home, relaxed, re-energized, and ready to find another private island for my next trip.