Hi Jo. We went to Desanzano. It's one of the largest towns on the lake and is nowhere near as touristy as some of the others, but is quite cosmopolitan.
Sirmione, whilst quite pretty, is a teeming mass of tourists. As is Limone in my opinion. I'm so sorry to disagree with those who liked it and of course it is just a personal view.
Malcesine is nice if you like watersports. The further north you go the smaller more touristy the towns.
Having said that, I love Lake Garda. It is such a personal thing isn't it? I'm just not keen on small places that are overrun with tourists.
Wherever you go the links are good and there are boats to all of the towns anyway.