Five days and three bases keep the transfers short, which is the whole point of driving here. Each day has one anchor stop and one that can slide if the light holds or lunch runs long. A France tour will put you in Avignon and Arles on the same day, which is the trade-off: less road, fewer villages in between.
Day 1: Land, Then Aix-en-Provence
Settle the car question at Marseille Provence Airport, where the rental desks sit in the arrivals hall. Driving out is the cleanest start if you land before lunch. If the flight lands late, take the shuttle to Aix-en-Provence, which runs every 15 to 30 minutes, takes about 25 minutes, and costs €8 one way, and pick the car up at the airport the next morning on your way north. A taxi for the same run is €40 to €50.
Spend the rest of the day on foot. Aix is Cézanne's hometown, and the tree-lined avenues give you a gentle first walk while the flight wears off. Park the car at the hotel and leave it there. Dinner in the old town, then an early night, because tomorrow starts with a hill road.

Day 2: Roussillon, Gordes and Sénanque
Drive north into the Luberon while the light is still low. Roussillon comes first, and the ochre cliffs above the village are the reason to stop. The path along the top puts you above the rooftops, which the lanes below never do.
Gordes is next, stone houses stacked on the hillside, and the Abbaye de Sénanque sits close enough to pair with it in one afternoon. The abbey is the frame everyone wants, so arrive early and walk up from the parking area rather than circling the lane. Early morning is the quietest hour if you can rearrange the day to put the abbey first.
Sleep in Avignon. Check in, walk to the Palais des Papes before dinner, and eat somewhere off the main square where the menu is shorter.

Day 3: Avignon and Orange
Give the morning to Avignon. The Palais des Papes held the papacy in the 14th century, when popes and antipopes lived inside it, and the size of the place swallows the morning if you read the panels. Walk to the bridge the song made famous afterward, then take the market streets back through town.
Orange fills the afternoon. Its Roman theater is one of the sites the ProvencePass covers, the town center is compact enough to walk in an afternoon, and the drive back to Avignon is short enough to leave the evening open.
Eat in Avignon again and pack a small bag for tomorrow. If the wind picks up, move dinner inside and leave the shutters closed for the night.

Day 4: Arles and the Alpilles
Drive south to Arles, where the Roman remains and the streets Van Gogh painted sit inside the same small center. Leave the car outside the old town and go in on foot. A morning covers both at an easy pace, and the cafes on the squares are where the afternoon starts.
The Alpilles take the rest of the day. This is limestone country with hiking trails and villages in the folds, and the roads through it are the kind you stop on twice for the same view. Pick one short walk rather than three, and leave time to sit.
Sleep in Arles. Marseille is the last morning's drive, so keep the evening local and eat close to the hotel.

Day 5: Marseille, Then the Airport
Drive to Marseille and leave the car near the Old Port. The harbor still works as a harbor, and the seafood is why you eat lunch before doing anything else.
The Corniche roads run along the coast from there, with the sea on one side and the city climbing behind you. Give the afternoon to that drive and one short stop, then return the car at the airport with time to spare before the flight.
If your flight leaves in the morning, flip the last two days: Marseille on Day 4 evening and Arles on the way out. Both versions work, and the second one gets you to the airport without a sunrise drive.
