I drove on my tod in my camper around Poland a while ago, and enjoyed myself.
The main thing to remember is that it used to be a part of the communist block and pretty centres are often surrounded by humongous blocks of ugly flats, but it's their homes and where they live.
Don't go without buying an Eyewitness Travel Guide or you'll miss far too much. I didn't bother with campsite guides and relied on my wits.
If you approach from the Baltic Coast, you are diverted south to the Swinoujscie free ferry (only locals take the more direct route.)
Every town and village has something lovely to offer.
Kolobrzeg - Nice old centre, ugly flats beyond.
Malbork - A Teutonic Knight's fortress on the River Nogat that I had wanted to visit since my youth.
Krakow - Stay for peanuts at Elcamp Stellplatz (motorhome repairs) so much to see in the old town, also Oscar Schindler's factory, Jewish Quarter restaurants, Wawel (don't take your bike or they won't let you inside), etc, etc.
Zakopane - Tourist trap in the lovely Tatra Mountains, but surrounding villages are lovely.
Oswiecim - If you really must.
Gora Swietej Anny - Interesting religious site.
Zloty Stok - Lovely rolling hills. (I stayed at Sportowa 7 camping.)
Czermna - Chapel of skulls (No photography for obvious reasons.)
Karlow Parc Norodowy - Viewpoint at the top of lovely hills and rock formations. (I parked free in the forest rather than the "Official Carpark".
Klodzco - Fascinating old town and baroque bridge.
Karpacz - A relocated must see Wooden Stave Church in lovely surroundings.
A Polish friend suggested bypassing Warsaw because of WW11 damage, so I did.
That misses off so much that I saw and visited, and I'd love to return..... But I'm 77 shortly........
It was interesting to photograph a road sign telling me that I was only about 60 miles from the Russian border.
Best wishes for your journey and your adventures.