Between Beaune and Paris

tdecoste - The town of Auxerre is about halfway to Beaune, near the A6, with a medieval center, cathedral, and more. It will make a great stop. There are lots of stunningly beautiful places to visit and explore in this region. Close to Semur-en-Auxois, there is Époisses and UNESCO listed Abbeye de Fontenay en Auxois which are both worth a stopover. A more ambitious side-trip could be Vezelay, with one of the best Romanesque basilicas in France. Last but not least, if you are into history and Roman ruins then check the town of Autun, France.

https://www.abbayedefontenay.com/en/

I'd second most of the places RJean lists. I think that Semur en Auxois is spectacular, and Auxerre is also worth a stop.

I would take the train to Auxerre, drive immediately to Chablis for lunch, and stop in Noyers on my way to Beaune.

The car rental is right next to the train station in Auxerre. But you could drive from Paris if you prefer.

Alternatively, visit the Fontenay Abbey.

This is a stunning area. I loved Semur en Auxois so much when we stopped on a drive from Provence that we later booked a cottage there for a week. Vezelay is wonderful as well with a stunning little church. You can see Fontenay Abbey and Semur en Auxois snapshots that we took here; having a couple or three days for the area would be great.
https://janettravels.wordpress.com/category/burgundy/
If you want to stop on the road, this little hotel near Avalon and close to Vezelay was a lovely stop we have stayed here twice on road trips through the region.
https://www.moulindesruats.com/en/