We plan by POI's for the most part and we use a paper map for laying out the entire trip and then decide where to stop each night. Google Chrome has good maps and gives you miles and hours. I don't think you can program your speed but if so I set it at 50 MPH. One program I used gave one alternate route and times based on different traffic conditions. I think it was Google Chrome.
We have only planed one trip where we did each day, normally we can guesstimate with a paper map.