Well you will need more than a few days to explore all the trails and sights in DV. I would take at least two weeks but if your time is limited do a loop through Titus canyon, Race Track road, Lippincott road, Saline Valley road, and Steel Pass to Eureka Dunes.
Another more challenging loop would be Warm Springs canyon, Striped Butte Valley, Mengal Pass, and Goler Wash to Ballarat.
Get a AAA map, the book "Death Valley SUV Trails" and
go prepared!!!
http://www.amazon.com/gp/product/0970711506/sr=8-1/qid=...727?%5Fencoding=UTF8