I am not saying that there is anything wrong with your plan, but I want to mention our own itinerary. When we planned to drive from Venlo to Amsterdam over two weeks, we flew to Cologne from NYC. Our United code-share with Lufthansa landed in Frankfurt, where for something like ten dollars more, we had a flight to Cologne, where we spent three nights. Especially because you like museums, I can't say enough good things about Cologne.
https://community.ricksteves.com/travel-forum/germany/can-i-see-enough-of-cologne
We walked over past the far side of the HBF, to a hotel with a car rental agency, to pick up our car. (Back then, second-country drop-offs just weren't that expensive. But it can't be that hard to train to Netherlands from Cologne.) So we didn't even have to drive right in Downtown Cologne. I'm not sure if it was on this trip, but we might have used the car to go to Monschau on the way. In the Netherlands, we stayed in business hotels on the edges of cities, to ease parking.
I think we visited Het Loo, Deventer, and Kroller-Muller and its park from 3 nights in the NK Rijnhotel, Onderlangs 10, Arnhem.
It is not absolutely necessary to have a car to see the Kroller-Muller or the vast park around it. But it doesn't have the annoyances of a car in a big city. While I consider myself "a professional museum-goer" (!), I would not say that the size of the Kroller-Muller, even including the excellent outdoor sculpture garden, requires a full day. With the free white bicycles, I would certainly allocate a full day for the outing (and maybe a nice lunch, probably with reservation), but not for the interior of the museum. AFAIR, it's comparable in size to the Worcester (MA) Museum of Art, or the Baltimore (MD) Museum of Art.
You did not say if this is your first trip to Europe - just thinking of jet-lag, for instance.