I was travelling that area a few times with own car.
The Atlantic Road is imo not a real highlight when you will have done that tour.
After 1 day in Bergen I would spend 1-2 day(s) around Hardanger fjord.
After this you have 2 main options:
1) Voss - Trollafossen - Stalheimskleiva - Nærøyfjord - Flåm (avoid days with cruise ships) - Aurlandsfjell - Sognefjell - Lom stave church - Dalsnibba - Geiranger (plus ferry Hellesylt als pedestrian)
2) Voss - Trollafossen - opt. Stalheimskleiva plus Nærøyfjordand & Flåm - Hopperstad stave church - Vangsnes - Gaularfjell - opt. Fjærland - Hellesylt - Geiranger (ferry with car one-way, reservation needed)
Sure you can switch after Aurland also to Gaularfjell or to Hellesylt (passing Fjærland).
Add glacier visits or hikes on your own wish.
Do not plan more than 150 - 200 km per day in that area.
Day before last night is likely Geiranger - Trollstigen route and ending in Alesund.
If you have an additional day left you can spend it on a day trip from Alesund to bird island Runde.
Happy planning.