i would recommend reading this page about
general driving in France and additionnal info about
french highways.
i have no idea about child friendly hotels, however would recommend you to avoid the paris area due to the heavy traffic in there and likely congestion.
on the highways you'll find rest areas aplenty.
i know for sure bourgogne is a nice place to eat and drink, must be too for sleeping.
i think any city will provide some nice hotels, including b&b like hotels.
have a good trip