Pont de Tancaville with a caravan - what bliss, you've made my day.
2 hours could be tight, as its 260km. At least if you left around 1-2pm, the town should be empty. Beware of the bit south of the Pont, I've gone through the charming little village of Pont d'Audemer, which isn't bypassed. Pont de Normanie may be quicker Look it up on Mappy or Michelin.