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Best scenic route Brussels, Bruges, Amsterdam and back to Brussels?

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I know a lot of people will suggest doing this by train, but we love driving!

We will arrive in Brussels from London on the Eurostar, we're thinking 2 nights in or near each city. My question is does anyone have any great small places along these routes for sightseeing and pretty towns and nice drives? And with a car we are probably better off staying outside the city's and getting train/bus in, so any great small inns/b&b's/hotel suggestions would be great. I do realize that my driving times are approximate, but we will have a full day to do each leg.

Arrive Brussels 5pm - have that evening and all the next day to sight see in Brussels.
(2 x nights Brussels)
Pick up a car next day & take our time driving to Bruges (1.5hrs), have all the next day in Bruges.
(2 x nights Bruges)
Spend the next day driving to Amsterdam; (3hrs) have all the next day in Amsterdam.
(2 x nights Amsterdam)

We will then have till 4pm the next day to get back to Brussels (2.5hrs) and drop the car off before heading back to London.

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