Traveling from Luxembourg to Amsterdam - where to stay and stop?

Definitely spoiled for choices of medieval towns on this route.
** Dinant—-Tiny riverside medieval town in the Ardennes forest with massive citadel overlooking the town.
Rochefort—-Tiny historic town in the Ardennes that has its own Trappist Ale brewery ( not open to the public) along with nearby caves and castles that are.
Ghent—-Historic medieval town that is a mid-sized university city today.
** Mechelen - Medieval town with a massive Grote Markt & cathedral in the center.
** Delft—- Canal-lined town famous for Delftware and for playing a key role in Dutch history.
** Leiden— Medieval, canal-lined university town home to the Netherlands’ oldest university and world-class museums.

Daytrips with the car across the border from Luxembourg:

You can go to Trier in Germany, famous for it’s Roman history. If you don’t mind driving you can visit for instance Cochem further downstream the Mosel river. Along the Saar river is Saarburg with it’s waterfall worth a visit too.

In France Metz and Nancy are worth to mention and for WW1 Verdun. For the latter a car is necessary.

To avoid a hefty international drop off charge you have to bring back the car in Luxembourg. You don’t make clear you already know this, do you?

Know that public transport in Luxembourg is free.

Wil’s post above mentions the one-way dropoff charge and, indeed, AutoEurope, for example shows for a five-day car rental it will cost at least $1150 to pick the car up in Luxembourg City and drop it off in Amsterdam.
If you were to pick up and return the car to Luxembourg, trains can get you to Amsterdam Schipol in 6 hours.

Thanks, all. Yes - the drop off fee is well noted, but we unfortunately don't have a choice. We want to travel to some smaller cities, Bastogne for example, where it is much more convenient and time effective to drive.

I think we may end up driving the whole thing from Paris to Metz, Metz through Luxembourg to Bastogne and then eventually to Amsterdam. I'll look at the suggestions offered, but looking for a great place to stop for 1 night between Bastogne and Amsterdam (not too far off route) and we may be coming close to finalizing our itinerary.

Thanks again for all the wonderful insight.

Maybe include Maastricht and Hertogenbosch depending on your route.

So many options….
Not to confuse matters, but here are more for a route from Bastogne to Amsterdam.
Were it me behind the wheel, I would visit Dinant which is about one hour from Bastogne.
The route north could include these great medieval towns/cities with medieval centers:
DINANT
*MAASTRICHT
*DEN BOSCH ( AKA “Hertogenbosch”)
UTRECHT
*NAARDEN. ( fascinating Star Fortress in a small town surrounded by moats)
All in all, it’s about six hours of driving.

Den Bosch and Maastricht are probably two of the most beautiful towns in the Netherlands.

Happy travels!

You can look for Thorn, lovely village well known for it's white painted houses. And pretty much halfway Amsterdam and Bastogne and just a few km from the A2 freeway..