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Questions about driving in/from/to Rouen/Amiens

We will be in Normandy for about a week at the end of August/1st of September. We'll be renting a car (Avis) in Caen at the railroad station. Will then drive to Mont St Michel for overnight, then 2 nights in Bayeux (tapestry, beaches, etc.) then driving to Rouen for an overnight and then driving to Amiens for an overnight. We plan to turn in our car in Amiens (it appears there is an Avis at the train station) before taking a train to Brugges. We're staying at the Mercure Rouen Centre Cathédrale and Mercure Amiens Cathédrale hotels. Can anyone tell me how easy/difficult it is to drive in Rouen and in Amiens? Is anyone familar with the Avis rental car return in Amiens at the train station? Am curious how easy/difficult this plan will be. Many thanks...

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Of the two cities, Rouen had much more traffic than Amiens when we were there this past September. We found Amiens easy to get around. We used a GPS that made things a lot simpler simpler. Parking in Rouen seemed to be at a premium.