If anyone happens upon this thread later I thought I would leave an update that we modified the itinerary a little more.
We dropped Mizen Head due to distance and time. This also made the driving route to get to Beara shorter. Previously when going to Mizen Head we were going to stay overnight in Skibbereen which is a longer route on the way to Beara.
Some may be surprised that we dropped Aran Islands, but the thought is if we make it back to Ireland, this would be easier to see next time and we just didn't have a lot of time to really enjoy some of the towns when trying to pack so much in.
New itinerary is:
Sat: arrive, explore Dublin
Sun: Dubin
Mon: Rental car, Kilkenny, Rock of Cashel, Cahir overnight
Tue: Cahir Castle, Leave Cahir around lunch time and head to Kinsale (have afternoon and evening), stay overnight
Wed: Beara Peninsula, Ladies view (on way to Killarney) Killarney overnight
Thu: Killarney day and overnight
Fri: Dingle/Conor's Pass, Ferry to Doolin (Cliffs of Moher??) & Doolin overnight
Sat: Cliffs of Moher, Burren & Galway overnight
Sun: Connemara National Park, head to Shannon for overnight before flight (Bunratty Castle if we somehow leave Connemara really early)
Mon: Depart early am