Has anyone driven from Bergen to Stavenger?

I spent a month in Norway this summer and, although I didn't drive the route you are inquiring about, I did drive extensively along the coast and found the ferry system to be excellent. The Bergen - Stavanger route has lots of ferries but, based on what I saw of the area the two times I have visited that area, and the experiences I had hopping between islands and between fjords this summer, I would say go for it! The coastline is stunning and there are many beautiful, windswept, and remote places to explore.
Make sure to research the ferry fares so that you can budget for this - they are quite pricey.