Short answer: The harbour and the seafront are level and the best of Ilfracombe is on them. Parking sits directly outside the aquarium on the quay and alongside the town beach. Rapparee, Lee Bay and the walk up to the chapel all involve gradients or coast path — leave those.
Ilfracombe climbs steeply away from the sea, and parts of the high street are a genuine slog. The good news is that almost everything worth doing is on the flat ground along the harbour and the seafront, and parking is right there rather than up the hill.
This is where to base a flat-access day. Parking sits directly outside the aquarium on the quay — the most convenient spot in town and reasonably priced. From there you have Verity on the pier, the boats, the independent shops, the Pier Tavern and the fish and chips all within a couple of minutes on level ground.
The Ilfracombe Aquarium is on the quay with parking immediately outside and is laid out as a single walk-through route. Note there are no toilets inside — the public ones next door charge and are not always clean. The museum near the seafront is a good wet-day stop, though it is packed on multiple floors so ask about access on arrival.
Ilfracombe Beach has pay-and-display parking right alongside it, which makes it the most straightforward beach approach in town. Wildersmouth is directly in front of the seafront with shops a few steps away — shingle rather than sand, and signed against swimming on water quality, so treat it as a sitting and paddling beach.
The Lime Kiln café and bar at the watersports centre has the best sit-down view in town and is used to groups. Annie and the Flint at the top of the high street does the best coffee in Ilfracombe, but it is up the hill — worth knowing before you commit to the push.
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