while I often have done Adl/Syd Syd/Adl in one hit, sometimes alone, it's 1500k's. I reckon the Hume highway is the most boring part, as you're just making distance to get somewhere at that stage.. If the cars are running well, the Snowy Mountains Highway might be worth a day long diversion, staying somewhere near Tumut or Adelong on Day 1. Look around and stroll to Mildura Day 2 and run into town Day 3. Or head for Hay and stop in Wagga or Naranderra (or Griffith, coming the other way) if you've had enough. Mildura is a big ask, coming from Sydney, particularly for a group on a day trip.
On the way back, the best two day trek is take the freeway to Tailem Bend, go through Lameroo, Pinaroo, Ouyen and Managatang. Depending on how you're feeling stop at Tooleybuc, Balranald, Hay, Naranderra or Griffith. What people don't realise is that most of these places are on the river and have wonderful accommodation.
e.g.
https://www.stayz.com.au/accommodation/nsw/murray-riverina/hay/102306.
Which would suit you all and there is large garage on site.
Really just depends on when you leave and how tired you are when you start. At least one of the days is going to be a long drive.