From what I have read, the recommendation is to avoid driving in Paris, if possible, I am picking up a rental car, which location would be the best to avoid Paris traffic and is accessible to transit?
where is your first destination?
We are training from Paris to Avignon, picking up car there and driving to Lyon, Dijon, the back to Paris (where we fly out).
Both the A5 and A6 autoroutes pass close to Orly Airport. If you plan to take either of them from Dijon to Paris, then you'll be very close to the airport as you approach the city. You could drop your car there.
We are flying out of Charles de Gaulle
I would consider taking the train from Dijon for the same reasons (probably) that you are doing so to get to Avignon: it's faster, plus you avoid the whole car-near-Paris thing. There is a direct TGV from Dijon to Charles deGaulle leaving Dijon at 7:13 and arriving at the airport at 9:02. You will not make better time in your car, plus having to return it.
The only kicker will be the southeast quadrant of the Paris peripherique which can either be nothing or a mess - - toss a coin. The way to avoid it: a. disregard the gps just south of Orly (as soon as you see the airplanes) b. leave the A6 for the A86 abeam Rungis c. the A86 will become the E15, which will take you to the Roissy airport You can turn the gps back on after about ten minutes. You would have turned it off less than a half hour from CDG. You're looking at three and a half hours, maybe a bit less, from Dijon. The drive is not that interesting. The car turn-in at CDG is handy and painless, but if you miss the sign for the rental returns you have to circle the whole darn complex again - - (twenty minutes?).
If you're going to spend your last night in Paris and fly out of CDG the next day, then I'll stick with my recommendation of dropping your car at Orly. If you're going to fly out of CDG on the same day you leave Dijon, then follow Adam's suggestion and take the train to CDG (if the timing is right).