I use to live in Baltimore and I once took that route north from Myrtle Beach, and it seem to take forever plus Norfolk has a lot of traffic. Going south when you cross the bay you have to navigate Norfolk and then you're in the middle of nowhere as far as interstates go. The last time I took the Chesapeake Bay Bridge Tunnel it was $20.
If it was me, I would go another 5 miles or so on I-95 pass Wilmington and then take US 301 south exit. Stay on that road and cross the Chesapeake Bay Bridge into Annapolis, stay on 50 toward DC and exit south onto 301 toward Upper Marlboro. It's a 4 lane divided road all the way until you cross the Potomac. There is a lot of traffic during rush hour, but I never minded it too much. Once you get past Waldorf there's not much traffic, you'll cross over the Potomac and stay on 301 until you intercept the I-295 Richmond Bypass. Take that south around the east side of Richmond and you'll join I-95 near Petersburg.
Actually the way I would go, but that's because I know the roads. Would be to stay on I-95 all the way to Baltimore. You'll cross I-695 the Baltimore Beltway and in about 8 miles look for I-895, take that road and you'll go through the old Harbor Tunnel, you'll pay a small toll, maybe a dollar, once you exit the tunnel in about 1 mile you exit to the right onto the exit for I-97 Annapolis. Take I-97 about 30 miles and then you'll exit onto Rte 3 Upper Marlboro. It will join US 301 without making any turns. Then just continue like you would have before. Take 301 all the way to Richmond Bypass I-295.
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