OK- good info
Make sure all drivers have an IDP- International Driving Permit- it is required by law. Get at AAA before you leave US- assuming you are coming from US?
Read up on ZTLs, parking. You will not be driving IN to any of these hill towns, parking is in lots outside the walls. Make sure your luggage is well hidden whenever you stop along the way. Take valuables with you. Hide your luggage before you park.
Siena is easily done as a day trip from Florence- by bus- quicker and easier than train. But it is especially enchanting in the evening as well so you will need to decide if Siena gets an overnight or not.
Lodging with parking/easy access by car
Orvieto- visit Civita di Bagnoreggio on the way to or from
Hotel Duomo has parking. Very nice family run hotel right next to Duomo they will actually park your car for you.
https://www.orvietohotelduomo.com/
Pienza
Piccolo Hotel del Valle or Hotel Gregorio
https://piccolohotellavalle.com/en
https://www.hotelsangregorio.it/en/
Both onsite parking
Both easy quick walk into village
Piccolo has absolutely fantastic view.
Montepulciano- we stayed here in 2014- it was fairly new. Since then we have stayed in Pienza- well- because it is flat. Montepulciano is very very steep!
Palazzo Carletti
https://palazzocarletti.it/en/
Parking is down the hill below hotel. Great location, beautiful rooms
Siena
Palazzo Ravizzi or Hotel Athena- next door to each other- both share fantastic view
Quick walk to Il Campo
https://palazzoravizza.it/
https://www.hotelathena.com/en/
If you don’t mind a 1 night stay, I might do 1 night in Orvieto then 3 in Pienza or Montepulciano. While there you can day trip around the gorgeous Val D’Orcia.
ETA
Yikes! Just realized you are going in just over a week? Lodging is going to be limited- I'd get right on Booking.com and see what is available. Use the filters for parking, AC, budget etc.