Hi Jodi,
It sounds like a wonderful trip to undertake with your daughters!
From Shannon, if you intend to drive straight to Dublin, then the route towards
Birr, and
Kildare would be a good one with castles and large houses to enjoy as you travel, not forgetting the Kildare Village shopping outlet! 😉
Another route would be through
Tipperary,
Waterford, and then up towards Dublin through
Kilkenny or
Wexford and
Wicklow.
Hopefully, this will give you a start on your itinerary, have you sorted out accommodations for your time with us?
Martin