Having encountered a colossal pothole on one of the Boston highways with no warning and only by God's grace being able to swerve into the lane alongside with no one there to hit me -- admittedly many years ago -- and having been driven crazy by those New England rotaries -- I'd say you'll have no problems driving in France! ;-) At least outside Paris. There's no point driving in Paris unless you're coming in or leaving the city.
Beaune has a pedestrian center and a lot of narrow one-way streets (like the North End maybe?), but a ring road that works well once you get used to which lane takes you where, and connects by good roads to other towns. Nearby is the intersection of two autoroutes that will get you anywhere else fast. The autoroutes are the wish-fulfillment of anyone who has experienced I-95 or the Mass Pike -- fast, uncrowded, well-serviced, scenic. (Also expensive but worth it.)
Driving in France isn't difficult, especially for east coasters who don't expect everything to be fast and wide like we do out west. The RS France guide has a good chapter on signage and rules. Gas is expensive but mileage is great. A stick-shift diesel ("gazole") car is the best value if you can get it. The French aren't crazy drivers, like anywhere else there may be exceptions, and some who are in a hurry and don't understand why you're having trouble with a route they've been following for years, but as courteous as any I've encountered. GPS helps, along with a good map. Have fun!