In recent years I've ridden across to Switzerland and back, and also down to the Med and back among many other tours in France. All on minor roads. Do not forget the R, C and V roads as well as D, they are often useful and are like our small lanes often have the grass ridge down the middle. As has been noted, D6xxx D7xx and D9xxx tend to be new roads and are likely to have more traffic, and perhaps a better surface. Any road that is a direct link between cities/large towns is likely to be busier, but you can pick and chose when you use these roads. I've used what should have been a busy road, but at 6 am on a Sunday it gave me a rapid first 30 miles.
Don't worry about it. If a road gets a bit busy, turn off and detour a bit since there is probably a lanes route nearby. All of this is far easier for those of us who use paper maps and "just go" versus the modern way of following a pre-planned route on electronic devices. I ride on my own with nothing booked so it doesn't matter what I chose to do. If in a group, or if you have precooked accommodation it could be a different matter.