This is something you can decide on the day of when you see exactly how much time you will have.
You'll go thru Passport control when you get to CDG as you will be entering the Schengen zone.
I'd want to be back to CDG 2 hours before your flight which means leaving central Paris 3 hours before your departure time. You'll have to go thru security again.
The Eiffel Tower and Notre Dame are a distance from each other. The Eiffel Tower is harder to get to if you take the RER B train in to town whereas Notre Dame will be a bit easier.
You'd need a timed entry for the Orsay Museum and to be honest with a family of 4 I'd not spend the money for the timed entry in case you have delays. None of the other things you list need timed entries unless you planned to go up in the ET.
What are your priorities? IF it's the Eiffel Tower VIEW, I'd take a cab in to the Eiffel Tower. IF you have them drop you at Trocadero it will be less expensive than if you cross the river to the actual ET. You can get the great view from Trocadero across to Eiffel Tower and then walk across the river. You could walk the length of the Champs de Mars then head left toward the Ecole Militaire Metro stop. There is a nice restaurant with a terrace on that corner but a sit down cafe will take 2 hours at least. You could continue down Avenue de la Motte-Picquet and stop at one of the bakeries along there for sandwiches to go. If you continue to the La Tour-Maubourg Metro stop there is a cab rank where you can pick up a cab back to the airport.
Fixed rate for the taxi to the Right Bank (Trocadero) is 56E. Return from the Right Bank would be 65E.
I don't think you have time for all the sights you have listed plus breakfast and lunch.