We'll be based in Beaune and I would like to do this as a day trip with a car: Fontenay Abbey, Flavigny (just because I loved Chocolat; just want to have a quick look), and Chateau Guedeleon. I'd love to see Vezelay also, but don't think I'll have enough time. The 2 most important sites for me are Fontenay Abbey and Guedeleon.
We spent a night in Montbard, got up early for breakfast then headed to Abbe de Fontenay (right outside Montbard) only to find it closed. We got there at 9 a.m. and it opens, I think, at 10:00, so we drove around looking at the countryside, stopped at a roadside café for coffee, and thoroughly enjoyed killing an extra hour in France! (We spent 2-1/2 hours at Fontenay.)
Then we headed to Flavigny. It took about 90 minutes to see the town and it was well worth the time.
From there we spent maybe 40 minutes driving to the top of Alise Ste Reine. It was barely worth it.
The rest of the day was spent just getting to Beaune for the night (got there about mid-afternoon).
So I think driving from a base in Beaune to see Flavigny and Fontenay, then driving back to Beaune, would use your whole day.
I would not want to cram all of this into a single day, but I suppose it is logistically possible. I find that having to rush about and cut things short robs every part of the day of its charm.
As others note, Fontenay and Flavigny are a logical pair; if that's not enough for you you could have a walk, a pastry, or a meal in Semur. (Stay out of dreary Montbard.)
So I hope you can work in Guedelon as a separate day trip, perhaps with Vezeley, or as a stop to or from Paris or the Loire.