Me too. I don't know when exactly you can or want to travel, but my own experience is that travelling with very young infants is in many ways a lot easier, cheaper and stress-free than when they get a bit older. It's the 2-16 age group that causes all the trouble...!
That said, if you want to be able to heat a bottle etc. in the middle of the night, there's no point in me recommending a bargain-bin accommodation solution. It's worth spending a bit more for a 'nice' hotel/guesthouse, in those circumstances.
Ireland has become such a rip-off in recent times that - if I were in your shoes - I'd look seriously a some kind of long weekend/city break abroad. You'll get better value, see somewhere new, and - at the end of the day - driving to the airport and jumping on a 'plane can be less stressful than than driving across Ireland. Check out the likes of Ryanair, euJet, eBookers, lastminute.com, etc.
If you do end up flying, or otherwise leaving the car behind, I'd urge you to travel as light as you possibly can. Over the years, we've had lovely weekend breaks with the 'babby' in Paris/Amsterdam/Venice, etc. and managed fine without the full-Monty Mothercare tank-style buggy (replaced by one of those mini-papoose things).
Good luck!