Betty – With the causeways you mean I guess the roads between islands in the Delta region in the south-west corner of The Netherlands. I can suggest the following itinerary.
For Delft you can go from Amsterdam by train as this is the most convenient way to visit cities in The Netherlands. Travel further by train to pick up the car in Rotterdam, there are a few rental car companies near the main railwaystation “Rotterdam Centraal”. Btw the modern architecture of Rotterdam can be of interest.
-From Rotterdam go south via highway A29 and follow direction Zierikzee, a well preserved historical harbour place and absolutely worth a visit. Near Zierikzee you can visit the Ouwerkerk Flood Disaster Museum. Further via the massive Storm Surge Barrier (follow signs Neeltje Jans) to tiny gem Veere (free parking along the canal east of it) and the capital of the province of Zeeland, Middburg another well preserved city, both highly to recommend. Nice is also coastal resort Domburg, painter Piet Mondriaan stayed there for getting inspiration.
-From Middelburg drive further south through the Westerscheldetunnel (€5 toll) till you hit the E34/N49 near Zelzate in Belgium. Follow signs Brugge, there you can also park the car in the large parking lot next the main railwaystation, costs €3,50 for 24hours.
But instead of going to Zelzate you can drive through the country-side to Bruges. So leaving the Westerscheldetunnel and follow the N61 direction Oostburg. There are alas roadworks at the moment and due to that several speedlimits. Drive along Oostburg to Sluis what is nice for a visit, but a bit too touristy, better is quiet tiny St Anna ter Muiden, clearly visible when approaching the Belgian border on the circular road around Sluis. Follow signs for going further to Brugge.
-The Belgian border is directly near Sluis / St Anna ter Muiden and follow the N376. For the scenic route you have to drive to the second crossing with traffic lights, turn left for following the N374 from there direction Damme. After 3km turn left to lovely Oostkerke, drive further to the canal, Damme and Brugge. Lovely area to drive through and for getting in the mood for Brugge / Bruges, especially with nice weather. Not easy to explain, but I think worth the effort, let me know if it’s of interest to give you more info as this route is not easy to find and easy to miss.
After the stay in Bruges you can drive back via Antwerp to Amsterdam for dropping off the car. A lot of driving is involved, but for visiting the mentioned places absolutely worth to do.