In the RS guide he suggests an overnite stay in Honfleur or at least a half day. I don't want to try to pack in too much in a day, but if I spent around 5 hours in Honfleur then I'd have time the same day to drive on to Etretat, spend an hour or two walking on the cliffs there, drive further along the coast, and then return to Rouen. In Honfleur I'd like to walk around the town, see the Boudin museum, and have lunch.
For those that have been to Honfleur does 5 hours in town sound like rushing it or was it enough time? I realize people are different, but I'm wondering what other people's experience has been.