If you're comfortable with the driving, go for it. Our youngest just graduated from college, so we're past the years of carseats, etc.
I've never been to Vieste, so I don't have any personal recommendations for the area, although it looks beautiful. And if you're driving, then I would definitely think about a couple of nights in Matera. It's not the most direct route heading to Ricadi but is a very special place. If a one-bedroom works for you and your daughter, here is the place where we stayed in Matera:
https://www.airbnb.com/rooms/4821696?source_impression_id=p3_1579979544_WDUuifJ/I6aeT/fA. It's a great location, right in the Sassi. Most of the interesting sites are within walking distance. When our kids were young, we loved having a full kitchen, so we didn't have to commit to eating out at every meal. Our typical pattern was always breakfast at home, main meal at lunchtime, then dinner back at home. That was a good balance for us, but of course every child is different, and you know best what works for your daughter.
Nor have I been to Ricadi (we stayed in Zambrone, halfway between Tropea and Pizzo), but the entire coast is lovely. Vibo Valentia has a good archeological museum. Like most in Calabria, it is small in scale and wouldn't be too much for a 5-year-old. Tropea is stunningly beautiful, although we were there in late September, so not as crowded as it would be in high season.