Within Mt Kenya NP is Serena Mountain Lodge which is a waterhole viewing lodge. You don't go on game drives here but rather view from the lodge. I believe they do conduct forest walks as well.
Samburu has a variety of accommodation in difference price ranges. Did you have a budget in mind? The lodges (Samburu Game Lodge, Serena, Sopa) tend to be lower priced than the tented camps (Intrepids, Larsens, Elephant Watch, Elephant Bedroom). As Samburu/Buffalo Springs reserves are fairly small, I don't feel there's any really bad location. There are two high end camps (Saruni, Sasaab) located outside of the reserve.
Sweetwaters is a private reserve with Sweetwaters Tented Camp and Ol Pejeta House. Between the two, I'd choose the camp because of the waterhole. Beyond the borders of Sweetwaters reserve on Ol Pejeta Conservancy (Sweetwaters is a reserve contained within Ol Pejeta), there's also the newish Porini Rhino Camp. I haven't heard much about it, but the other Porini camps get very favorable reviews.
Within Lake Nakuru NP are two lodges (Lion Hill and Lake Nakuru Lodge) and one tented camp (Flamingo Hill). Just outside the park is Mbweha Camp located on its own conservancy area. Again depends on budget with the lodges being lower priced.
Too many camps and lodges in the Mara to really name without knowing your budget and preferences. The Serena Lodge is well located and I believe is the only accommodation inside the reserve to offer night game drives. Normally night game drives are only conducted outside of national reserve and park boundaries.
This directory lists the camps and lodges in Kenya organized by location with links to their websites http://www.safari-portal.de/Lodging.KE.d.html