Well, advance planning is always helpful - even if it's only to scan a reputable guidebook and highlight the sights along the way that most appeal to you. The street view feature on google maps can also help you get your bearings if you're at all concerned about specific areas.
That said, we're not exactly talking about major highways here. Both are rural, 2 lane roads, where the speed limit is slow enough to give you plenty of time to react if you see something that piques your interest.
Off of the ROK many here recommend the Skellig Ring - a short detour between the villages of Ballinskelligs and Portmagee. Terrific scenery, the Kerry Cliffs, a chocolate factory down the road, and no tour buses.