First, let me say that I don't mind driving at all, and I tend to enjoy a faster paced vacation myself. It looks, though, like you won't be doing much other than driving. Yes, Belfast to Galway is a long haul, and it won't leave you any time to actually see Galway because you'll be off the next whole day to get to Dingle. Galway to Dingle is another long haul. You are essentially leaving yourself only one full day in Dingle, then you have the long drive to Kilkenny (again, no time to see anything), and on to Dublin again the next (again, another day in the car).
I'm guessing you plan to see Newgrange and Glendalough while you are in the Dublin area the first time? You really need to look at www.viamichelin.com for driving times/routes for your proposed days. Add about 25% to their time estimates. Driving in Ireland can be very, very slow, and if you are not accustomed to driving on the other side of the road, that will add some stress to the trip, too.
On the face of it, you'll have only one full day in Dublin (plus the rest of the day you arrive), one full day in Belfast (plus your travel day to get there), one full day in Dingle, and otherwise you'll be driving. You actually only have eight days on the ground, since you leave early on your last day, and it will be at least midmorning by the time you get out of the airport on the day you arrive.
If you weren't visiting friends, I'd suggest skipping Belfast because it's out of the way of everything else you want to see. Since that can't be changed, I would suggest skipping Dingle (again, because of the distance involved). You'll get dramatic scenery all along the way, particularly if you stop at the Cliffs of Moher, and you'll have more time to actually experience more than the inside of your car. You don't want your trip of a lifetime to turn into one long blur of roadway.