Estonia, Latvia and Lithuania have superb roads. Kaliningrad and Poland are good - generally comparable with much of UK.
Consider taking the inland route between Tallin and Riga - the road between Tartu and Riga is my all time favourite surfaced road. Big, hauntingly lonely, Hansel & Gretel type countryside with isolated farmsteads set in large clearings in the dark forest. The undulating, curving roads are a joy in themselves, without the scenery!
The Coronian Spit between Klaipeda and Kaliningrad is interesting - after the short ferry crossing the Latvian side of this protected national park is far better managed than the Russian section.
Kaliningrad is not representative of Russia but provides a variation to its neighbours. You will need Russian Visas in advance and non-EU insurance (bought near the border). Border crossings are the fastest I know for Russia.
It is easy to look at the city and cross Kaliningrad region and enter Poland in less than a day.
However Gdansk would be really pushing it in a day from Klaipeda if you want to stop on the Spit and see Kaliningrad city.
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