Yes, agree with Dave stay 2 nights in Dingle. You may need to choose between the places you have listed for Day 4 and 5. If you do stop in Kinsale were you thinking of staying overnight there or in Waterford? I'd choose Kinsale. The distance from Kinsale to Waterford is 90 miles and travel time is 2 hours and 30 minutes (approx.) The distance from Kinsale to Kilkenny is 106 miles and travel time is 2 hours and 35 minutes. From Killkenny to Waterford is about a 45 minute drive. If you travel from Kinsale to Kilkenny you could also stop at the Rock of Cashel.
Day 2-Drive to Dingle and stay 2 nights
Day 3-Tour Dingle
Day 4-Drive to Kinsale-stay the night
Day 5A-Drive to Cashel and Glendalough-stay in WIcklow (Wicklow to Dublin is about 31 miles, travel time 1 hour and 7 minutes) OR
Day 5B-Drive to Kilkenny-spend night, side trip to Waterford (we did this as it was an easy drive to Waterford and back to Kilkenny but we did stay 2 nights in Kilkenny) or skip Kilkenny and drive to Waterford -spend the night there
Day 6-Drive to Dublin stopping at Glendalough if you choose 5B
We prefer to spend 2 nights in a location which you could do, but you'd need to prioritize and see the sights you miss this time on another trip. Personally, I'd skip Kilkenny and Waterford this trip. For sure I'd visit the Cliffs of Moher, Dingle, Kinsale, Cashel, Glendalough and Dublin. Whatever you decide will enjoy Ireland!