I think it depends on what time of day you are travelling - and how far you have had to drive to get as far as Folkestone, in the first instance.
We are in W Yorkshire - and usually weI book us on a crossing at about 6.00/7.00 am. that was we drive in the nighttime and avoid the rush hour traffic on the way. It's v tiring, but we allow 5 hours anyway (to incorporate a coffee/toilet stop).
So, we are in France by 9.00/10am - which is too early to check into a hotel.
Last summer we stayed in Bayeuxx for a couple of nights prior to a house in the loire valley. Totally opposite direction, mind, but we wanted to fit it in.
But that was fine - as we just took it steady and got used (again) to driving abroad, and using our new toll auto tag device.
If you are travelling on the afternoon/evening and want to stop over - then I would suggest somewhere near Calais. Rest up and do your journey the next day.
It is only 4 or 5 hours to get to most parts of the Loire region - it's much more pleasant driving than in the UK too.
Rouen is v nice - and we once stayed there en route to the Dordogne. Nicce way to spend an afternoon and evening. In fact it is nice to go that direction to avoid Paris anyway :)