For a first time visitor, you'll really need a full day planned at each park, and most would say 2 at MK (for me, 2 at EP) - and even at that, "relaxing" is not the term most would use. In one very full day you could probably see the highlights of the 2 Universal parks, but most would say that each park needs a full day by itself. Unless you are expecting a very grueling travel day, I would recommend using your arrival day to relax and your first full day as a park day and save a "resort day" for somewhere in the middle to "recharge" a bit. Five WDW park days plus a Universal day can be pretty exhausting without a break in the middle.
I echo considering staying at one of the Universal resorts for one night; it will give you the Express pass and early entry, which would make seeing both parks in one day a much better experience. If you chose a Universal resort for your "off site" hotel for your first night, you could relax at the resort and enjoy Citywalk (Universal's "DS") and spend the first day of your trip at the Universal parks, then transfer to WDW for the rest of the trip.
Jiko is one of my favorites in WDW; one of WDW's best signature restaurants - as long as your DSs are up for a "fine dining" experience. Another option would be California Grill (my personal favorite); excellent food great views, and you can watch the fireworks from the deck.