I am with Kimberly, with the exception that I have not been in March - but I have been in Nov., with short days. You never know what the weather will hand you, so you do have to be ready to be flexible with plans. But you will already be there, so it’s great to take some extra days to see more!
I also like the cities you have chosen. Galway offers the chance for day trips and restaurants at night. Dingle less so. Kilkenny was unexpected for me and I wished I’d had 2 nights there instead of one. I’d say consider Killarney - I know some people think it’s too touristy (and this might be a plus in March), but I like it and it’s easy to get around with some lovely nature right at your doorstep, but plenty of restaurants for the long evenings. Possibly you are visiting there with the kids, though.
Driving isn’t too bad once you get started but you will want to plan around not driving after dark (which makes having a location for your evenings more important). And keep in mind driving in the rain can be an added stressor. Absolutely don’t drive in Dublin (but leaving the airport is like freeway driving in the U.S.). I didn’t drive much in Galway, but left with a rental car from right by the bus station - not hard. Kilkenny I stayed slightly out of town and walked 10 min.into the city, but I did visit a couple of churches in the city by car first- tricky but if you don’t start there, it should be fine. Dingle to Kilkenny is a long drive when days are short - might be another reason for an overnight somewhere to break that up.
However, you COULD consider doing the trip by bus and supplement with day tours. For that, you would have to check availability. Busses in Ireland are nice.
If you keep these 3 cities, I’d say 3 nights Galway, 2 nights Dingle (because it’s March), 3 nights Kilkenny, 1 night Dublin before flying. If you have 10 nights, as opposed to 10 days, add a night between Dingle and Kilkenny. If you keep your drives @ 2 hours, you can add in some nice stops between cities.
We all have different experiences and opinions, but it can be a great trip! I know people who went for a similar trip in March last year and they had a wonderful time.
Enjoy!