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Stopover suggestions for trip from Rouen to Luxembourg City

I am planning a two week trip for the beginning of May with a family of five, and I am looking for suggestions for a one night stay as we travel from Rouen to Luxembourg City. It’s really just to break-up the long drive. I was considering Reims, but I think I would rather stay in a smaller village rather than a city. Any suggestions for somewhere pretty and charming for the night?

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Going through Belgium (via Amiens-Valenciennes-Namur) is best (same time, no tolls) and the drive is doable in one day. Only about 5.5 hours. If you need a break, Namur or Dinant in Belgium are pretty.