Burgundy to Paris/CDG

I would get to CDG the afternoon before your flight and drop your car and take the train into Paris for dinner and a final stroll by the river. Don't try to return a car before a high stakes flight. We just stay at the Novotel which on top of the RER station and very convenient for the flight next day.

If you have an extra night on the road, Auxerre would be a good stop; we made that one last fall on our way from the Ardeche to Paris. We had a hotel just below the Cathedral and it was fun to stroll around the lovely old town and get dinner before heading on to Paris the next day.

We often stopped at Semur en Auxois on our way from say Provence to Paris, but it is pretty close to Beaune so probably not what you are looking for. https://janettravels.wordpress.com/2010/08/25/medieval-towns/

Near Auxerre is also the pretty medieval town of Vezelay. We have stayed at a lovely country hotel on a small stream with a great restaurant near Avalon near Vezelay. Moulin des Ruats. It is in the edge of a huge forrest preserve. It also is a good last stop before Paris if you have an extra night before spending a night at the airport.

If you just have one day, I would stop by these towns on the way and then drive in to CDG and return the car the night before and have dinner in Paris. This is beautiful country. -- Maybe have lunch in Semur en Auxois and then stop by Vezelay or Auxerre in the afternoon and come in in early evening.

Chablis, Sens, Troyes, Fontainebleau, Barbizon.

The Auxerre/Vezelay area or Chablis or good places to stop. If your flight from CDG is not super early in the morning, you might want to consider Senlis. It's a beautiful town, and only a 20 minute drive to the airport. We've stayed there a couple of times before flying out of CDG.