You may get into Paris by 9:30 if your flight is on time, there aren't too many other flights arriving at the same time (and needing to go through immigration), and you don't have a long wait for your luggage. I think 10:30 is more realistic.

Personally, I would not plan to drive to Rouen and Dijon as they are in opposite directions and you'll have to get around Paris to go from one to the other. Not a treat. I would do one of the following:

1. Either take the TGV to Lyon, a terrific city with interesting sights and wonderful food, and pick up a car there for driving in Burgundy. (And, if you want, you could take the TGV directly from CDG on the day of your arrival and save all your time in Paris for the end of your trip.)

OR

2. Go to Rouen/Giverny as planned and then drive down into the Loire (beautiful countryside, lots of wineries and interesting chateaux to visit- Chenonceau is my fave) and use Orleans, Tours or Angers as a base.

It depends on what kinds of wine you like and how much driving you want to do. My "rule" for estimating driving time in France is: If you're driving on an "A" route, allow slightly longer than in US (because of the unfamiliar territory, signs, etc.); on an "N" road, allow twice the time; and on anything smaller, allow three times the time.