Itinerary for 3 day trip to Chennai

Here's an ideal itinerary for 3 days in Chennai, taking into account your constraints:

Day 1:

Start your day early and head to Tirupati, which is about 135 km from Chennai. It takes around 3 hours to reach Tirupati by road.
Visit the famous Sri Venkateswara Temple, which is one of the most visited pilgrimage sites in the world. The temple is located on the seventh peak of the Tirumala Hills and is dedicated to Lord Venkateswara.
After visiting the temple, head to Kalahasti, which is about 40 km from Tirupati.
Visit the Sri Kalahasteeswara Temple, which is dedicated to Lord Shiva. The temple is known for its unique architecture and is one of the Pancha Bhoota Sthalams, representing the element of air.
After visiting the temple, head back to Chennai and retire for the night.

Start your day early and head to Kancheepuram, which is about 75 km from Chennai. It takes around 2 hours to reach Kancheepuram by road.
Visit the Kailasanathar Temple, which is one of the oldest temples in Kancheepuram and is dedicated to Lord Shiva. The temple is known for its intricate carvings and architecture.
Visit the Ekambareswarar Temple, which is dedicated to Lord Shiva and is one of the largest temples in Kancheepuram. The temple is known for its 1000-pillar hall and the mango tree that is believed to be more than 3000 years old.
After visiting the temples, head back to Chennai and spend the evening exploring the city. You can visit the Marina Beach, which is one of the longest beaches in the world, or explore the local markets and try some delicious street food.
Retire for the night in Chennai.

Start your day early and head to Mahabalipuram, which is about 60 km from Chennai. It takes around 1.5 hours to reach Mahabalipuram by road.
Visit the Shore Temple, which is a UNESCO World Heritage Site and is one of the oldest temples in South India. The temple is dedicated to Lord Shiva and is known for its beautiful architecture and location on the shore of the Bay of Bengal.
Visit the Pancha Rathas, which are a group of five monolithic temples that are carved out of a single rock. The temples are dedicated to the Pandavas and are known for their intricate carvings and architecture.
Visit the and spend some time relaxing and enjoying the beautiful scenery.
After visiting Mahabalipuram, head back to Chennai and retire for the night.

I hope this itinerary helps you plan your trip to Chennai and its surrounding areas. Have a great trip!