Feasible? Yes.
Some thoughts:
4 Koblenz Eltz Castle: Unclear... does this mean you are choosing to STAY in Koblenz or VISIT on your way to Eltz? Eltz is not in Koblenz.
5 St.Goar Rheinfels Castle: Same question about St. Goar. And is Rheinfels the ONLY thing on your agenda this day?
- Eltz and Rheinfels are close enough that a single town would be just fine for overnight.
- It's surprising that one of the most popular activities - a Rhine cruise - is missing from your agenda. No interest in that?
- Since you're obviously into castles... the most authentic medieval castle experience in the area is MARKSBURG Castle in Braubach (tours of this never-destroyed, intact castle, in English, at 1 and 4 pm.) I'd put that at the top of my list.
- Koblenz is mostly a "meh" city - very modern, just a small old-town zone... What's unique about the Rhine Valley is its collection of small old-world towns and the atmosphere they provide. St. Goar is small and VERY scenic and makes for a convenient base town for visiting Eltz, Marksburg and other places over 2-3 nights; waterfront rooms offer great views:
https://de.wikipedia.org/wiki/Liste_der_Kulturdenkm%C3%A4ler_in_Sankt_Goar#/media/Datei:Mittelrhein_-_Flickr_-_tm-md.jpg
https://t-ec.bstatic.com/images/hotel/max1024x768/900/9002574.jpg
Boppard (just to the north of St. Goar) is also very old-world-attractive and an excellent base town - waterfront hotels there as well. Its chairlift ride offers great views of the valley.
St. Goar and Boppard both have FERRY CROSSINGS that run all day if you want to cross the river (to visit Marksburg/Braubach or elsewhere.)
Other places you might want to visit:
Oberwesel
Cochem
Bacharach (Not covered on the VRM guest ticket however, see below.)
Unless you have mobility issues, I would use the trains in this area instead of the car. If you stay in Boppard, your train outings to St. Goar, Eltz, Marksburg, etc. are free of charge with the VRM Guest Ticket that comes with every Boppard hotel room. Trains cover this area VERY thoroughly, scenically, and efficiently. See Rhine Rail Map with train lines on both river banks; see also Mosel Rail map for journey to Eltz.
6 Manheim Manheim Castle
7 Manheim Schloss und Schlossgarten Schwetzingen OR Schlos Heidelberg castle
I agree with the comment that Mannheim isn't all that super - I suggest you transfer a night to Boppard or St. Goar and get by on one night in Mannheim.