if you drive through Rouen on the eastern side of the river, the road is slightly narrow in places but easy enough even with my 4.5t, 7.7mt tag axel van, plus I found it was quicker than going through past the railway with all the traffic
I did drive through the right side once through the railway sideings and all the traffic lights and vowed never to go that way again, the alternative via Yevtot does take up to 40 minutes longer.
after this year I won't be allowed to go the eastern side with my crit'air 4 van but I've read about another route on the east side of Rouen that takes under 10 minutes longer but very fiddly roads, (turn here, turn there, etc)
the first time I went the eastern side of the river, at home I went on street view and saw the way to go, made it a lot easier knowing where to go past the church as you enter Rouen