Quick Update: I booked on Majestic yesterday!
I really appreciate all the seasoned experts sharing their advice about going with smaller ships for Alaska. I'm convinced this is the best way to see Alaska if nature/scenery is top priority. Your comments led me to seriously reconsider the Sapphire. Carefully read a bunch of recent reviews/reports/videos. For my taste, Sapphire looked too dated. I also looked very briefly into HAL. The ships/food look great. There also seems to be a consistent theme that folks with direct experience on both Princess and HAL typically prefer HAL.
Ultimately, I decided that for my scenario, it is more important for me to stay in a newer/modern ship and accept the drawbacks. When we go on vacations, I know I'm much happier/more relaxed when I stay in newer/clean/modern/well-maintained resort. I also picked Princess over Hal because it seems like the better fit for a casual multi-generational trip with tweens. Will definitely consider HAL for a future adults only cruise.
I was actually leaning towards the Discovery (nice and new), but had to rule it out because there were no connecting obstructed balcony rooms left. I was able to get a block of 6 continuous obstructed balcony rooms (E229-E307) on the Majestic. This block includes two sets of connecting rooms. Rooms are all Starboard side (for Northbound itinerary). I think/hope they avoid the entertainment areas above/below. We like to peek out on the balcony but typically don't spend much time on the balcony (hotels or cruises). I'm sure that will increase a bit for Alaska. The grandparents typically got themselves inside rooms. Having any balcony should be a nice perk. With the interconnected balconies, I'm hoping we can walk around and navigate any balcony obstructions.
The Princess $1 deposit is a pretty compelling way to get customers to pull the trigger. With all the input on this thread, I feel pretty good about the choice. However, the tiny deposit allows us freedom to change our mind.
The Majestic had some nice bonus features too. The grandparents might enjoy the bi-lingual signage. I think the group will also enjoy having the option of the Asian Noodle Bar as well as Congee Bar. This may be the grandparents last trip to Alaska. Think they will have plenty to enjoy (sites, grandkids, sites). I suspect this will be my family's first of many trips to Alaska.
Thanks to all the commenters on this post. Was incredibly helpful to get everybody's expert insights.
@Wishing on a star -- thank you for going above and beyond and sharing all that balcony information. None of the larger balconies were available. Like you said, those go fast. I was grateful just to be able to find 6 contiguous obstructed balconies.