None of these are actually far from one another. Lehigh and Muhlenberg are literally 10 minutes apart. On a nice day you could walk it if you had time. Lafayette may be 20 minutes from there. Driving time from them to Haverford, Dickinson, or Franklin & Marshall is probably a little over an hour for any of them (but it would be a completely different drive in each case). Dickinson and F&M are maybe 30 minutes apart. F&M and Haverford are an hour apart.
If you are driving from the north, you will come to Lehigh, Lafayette and Muhlenberg first, and you could see them then, or you could save them for last, or you could see two on your way down and another on your way back. Muhlenberg is minutes from the Pennsylvania Turnpike, and Lehigh a few more minutes, Lafayette half an hour. It would obviously be easy to see two of them in one day, but three is pushing it. The same is true with F&M and Dickinson, although they’re not quite as close. It would probably be a mistake to double up any of the foregoing with Haverford because of the extra driving time (and the possibility of traffic in the Philadelphia suburbs. That’s too bad, because Haverford is probably the smallest campus of the five (not sure about Muhlenberg) – you could almost step on every square foot of it in three hours.
Essentially, you are going to do a triangle – Allentown/Bethlehem - Philadelphia Main Line - Carlisle - back to Allentown. You can do it in either direction. You can hit Lancaster in either direction on your way between Carlisle and Haverford, or you can go to Lancaster from Allentown and drive by it again on your way from Carlisle to Haverford.
I don’t know where to tell you to stay other than the Philadelphia area. There, I would try the Radnor Hotel or the Wayne Hotel. There’s nothing right near Haverford, those are as close as anything and both fairly reasonable and somewhat charming, and they will give you a sense of what the Haverford area is like. You could also look at the Marriott in West Conshohocken, or any of the big hotels on City Line Avenue. Those maybe put you in the way of more traffic, but they aren’t a lot farther from Haverford than the first two.
I would try to avoid planning to leave or to arrive at your Haverford-area hotel during rush hour, since you will not really be able to avoid substantial highway traffic at those times (say, 6:30 - 9:00 am, 4:30 - 7:00 pm). I think what that means is that you plan to arrive in that area after 7:00 one evening, driving in from elsewhere, then tour Haverford the next morning, and leave by mid afternoon.