If you take I-95 out of north Vegas, you cross over to Beatty. That puts you on the east middle of Death Valley. Right below you is the ghost town of Ryolitte. From there you can hit most everything pretty quick. A couple of miles below that is Titus canyon. Its a long, one way drive that starts from your end.
When you come out, your on a major road. Right is Eurika Dunes, tea kettle junction, Ubehe Crater. I would camp my first night at the Dunes then back track and drop down to race track.
I would next go back up and head the other way towards Titus. Drop into devils cornfield, mesquite dunes then stove pipe wells. Fuel up and have an ice cream. There's a public campground there also.
Right now your literally in the center of Death Valley with a few exits home. Depending on your time frame you can go back up to Beatty, go up to 190 and go left to Baker or the real long way, go down and across Panamint Valley (more stuff to see).
Heading toward Parump on 190 I think there's only 20 mule team
Heading towards Baker you would turn down bad water road. There's Salt Creek, Artist Drive, Devils Golf Course. Baker is about two hours (ish) from Vegas.
Heading towards Panamint will literally take you all day and eventually putting you on I-395 to I-15 and about 4 hours from Vegas (once you hit I-15).
I normally take several days at a time out there. Everything is pretty much scattered. You need a good map or you will miss things. Almost the whole park is accessable with a stock 2wd truck with the fun stuff accessable with 4wd and good tires.
I could send you my Death Valley route/way point file but its a bit scattered and I don't have easy vs hard routes designated. I normally just wing it and pick a route based on what I want to do. Your welcome to it. just PM me. I also have the Mojave mostly mapped from south of vegas all the way down.