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You can use one of the rotue planning websites to find times/routes.  Viamichelin or Autoroutes.fr are good ones, and you can select toll/non toll and add places you want to go 'via' so that if you were plotting the Rouen route outlined above you'd input Calais, Rouen, Chartres, etc., and if you wanted to go via Paris input Paris instead.  Make sure you select the correct type of vehicle - some larger motorhomes are Class 2.

That way you can look at the various options - just play around with the site until you've got something you like the look of.