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Dublin to Galway & points south by rental car: 3 full and 2 half days?

We are a couple in our 70’s traveling with our son & partner in their 30’s.
Picking up rental car in Dublin on a Friday AM then traveling to Galway for the night. We want to see the Poulnabrone Dolmen, the Cliffs of Moher & take the Killimer Ferry on our way south. I need suggestions for what town (s) are best to stay the next 3 nights returning to Dublin on Tuesday afternoon. We would like to do EITHER the Dingle Peninsula OR the Ring of Kerry (the one that works best), the Killarney National Park & the Rock of Cashel for sure.

Is this something that can be done in 3 full and 2 half days? What towns are best for overnights? Which routes are best?

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