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Driving from Oslo to visit fjord country

I’m dizzy from trip research: is the following itinerary not only possible but also advisable in early September?

Drive from Oslo through Gudbrandsdal Valley and over the Jotunheimen Mountains (stay one night?). Drive along the Lustrafjord, visiting Solvorn and the Urnes Stave Church), spending a night. Drive on to Kaupanger, where I am hoping there is a car ferry to Aurland and spend the night. Take a car ferry (again, hoping there is one) to Balestrand and spend a night or two. Take a car ferry to Gudvangen and drive on to Bergen. My main questions are: are car ferries generally available and, if so, should I book them in advance; and does this in general seem like a good itinerary for a couple who likes scenery, walks and hikes, fewer crowds, and not rushing? Many thanks.

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Drive on to Kaupanger, where I am hoping there is a car ferry to Aurland and spend the night.

Instead, take Mannheller Ferjekai ferry southeast of Kaupanger. At Lærdalsøyri, follow the old road (FV243) to Stegastein and on to Aurland.

We only did one fjord tour (without our car) at Geiranger, although we crossed many fjords on car ferries. I found that to be enough time on the water as I thought the scenery was even better on the land.

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I too am planning a five day trip from Oslo RT and want to see the Geirranger and Sojne fjords as well as side trips to the Stave churches & villages. Google map shows a round trip but it is a lot of driving.
Are we better off taking a round trip by train to Alesund then renting a car to do the fjords. We also saw that we might be able to take a ferry from Alesund to Geirrand and spend the night there before heading back to Alesund to get a car & drive to the Sojne fjord.
Too many unknowns & a lack of familiarity with trains & ferries. Any help is appreciated.