I think Serge Lang's A First Course in Calculus does a pretty good job of that. However, I read maybe 200 pages of the book in a sitting back when I studied AP Calc, so I may have misjudged how rigorous the book is. I do remember that Lang presents I think motivation for a part of the proof of the chain rule in the chapter on differentiation, saving a harder case of the proof for the end of the chapter or something.
Also, I think the epsilon-delta stuff is in the appendix of the book. The main theorems about continuous functions: IVT, boundedness, attains max and min are not in the body of the book, but they may be in the appendix.