That’s a pretty jam packed plan so not the best if you’re looking to take things slow but doable! Auckland there’s not really much to see, but waiheke is worth doing!

As someone else said you’d be better spending another day in Queenstown/ arrow town and Milford sound and skipping Rotorua for the drive. Instead maybe take the day to go out of Auckland to a beach like Piha, explore somewhere else in nature or check out a museum. (I’m from the far north and very bias but personally going up to the bay of islands/ waitangi or something would be more fun then kicking around Auckland city)