Hi Hare and welcome. I haven't travelled the Waterfall Way for a few years but last time it was not too bad. It is a a bit of a pull up the hill if heading to Bellingen from the south and then the road is a bit winding with a few tight corners, but nothing too dramatic if you just take your time. Plenty of vans travel along this route.

Crossing the Dividing Range most of the roads are the same. The route through Hexham and up the New England Highway is easily the best. The road from Port Macquarie heading west is pretty winding for the first 50km past Wauchope and then okay. The Gwydir from Grafton to Glen Innes is a good route with an initial slow rising gradient and then an easy run down. The Bruxner from Casino to Tenterfield is a a bit winding but once you get over the initial climb over the Richmond Range it is okay.

All are easily done if you just take your time and enjoy the trip. Hope that helps.