The best part of driving around the USA is to access and explore it National Parks. These are mainly out west, and its best to do a big loop, or multiple loops, and rent a vehicle that you dont have to pay a OneWay charge on, which would be $100 day without insurance, vs $25 day. Using California as a base, or Las Vegas, explore the parks for 2 weeks, starting in the southern California where you need a car San Diego/LA, and end in San Fran, where you dont want a car as it expensive to park and easy to get around with public transport. Then fly to next area, do not drive.
You dont really mention any interest? Disneyland? Museums? Cabins in mountains?
The key areas on the East coast, which have a lot of history, culture and museums etc, are all best explored without a car, as its not easy driving due to congestion, especially NYC, and not cheap to park, $60-$150 day. Public transport is great as well, you can train or bus between them as well. NY, Boston, Philly, Wash DC.
Small towns are everywhere, but if you want to enjoy the history and old towns, then you need to be more specific and read a guide book and see whats interesting, as we could list 100 small towns to visit. Charleston SC is a must, Old Williamsburg VA, etc etc.
Another city that is great in summer with lot of outdoor music and festivals would be Chicago. For the old south food and music, New Orleans.
On the eastern half of the country you also have Smokey Mountain National park, Asheville, the Blue Ridge Parkway, and great outdoor and nature options, like the west and its parks.
Ideally, I would consider the west for 2-3 weeks, need to choose, with Yellowstone National Park, Yosemite, Grand Canyon, Moab and Bryce and the Rocky mountains in Colorado areas as a key focus.
Then fly to Chicago nights or New Orleans 2 nights, Then fly to NYC for at 4 nights minimum, then hit Boston or Philly 2 nights each, then train to Wash DC for 3 nights Min, all Smithsonian Museums are free, then get a car, and do a big loop to Williamsburg VA, 2 nights,Charleston SC 3 nights, then to Greenville SC and or up to Asheville NC and the Smokeys area 4-5 nights.
You need to be more specific, and read up, were not travel agents.