Take I-95 south toward Baltimore, try to arrive after 9am and you'll avoid the rush hour. When you go over the beltway, that's where you'll see the sign exit Towson, stay on I-95 and in about 9 miles exit onto I-895. Take I-895 south through the Harbor Tunnel, this is the old tunnel, toll was $1 last time I went. When you exit the tunnel take the next exit, comes up quickly in about 1/2 mile. It will probably say I-97 Annapolis. Stay on I-97 about 20 miles and then exit to Route 3 Bowie, Maryland. In about 1/2 mile it will turn into a 4 lane divided road and restaurants will be on your left and right.
Take 301 the rest of the way out of Maryland, you'll have some congestion and restaurants at Upper Marlboro and Waldorf. When you cross the Susquehanna River there is a $1 toll. Stay on 301 in Virginia (it's the same 301 that goes through Wildwood). Just after you pass Fort A.P. Hill, Hwy 301 turns south, you'll pick Rt. 207 and in about ten miles you'll hit I-95 South, you'll be about 20 miles north of Richmond. At Richmond depending on traffic, you can go straight through town, they removed all the tolls, or take the bypass I-295 if I-95 is slow. If you take the bypass, you'll rejoin I-95 south of Richmond.
Basically what I did was to avoid the heart of Baltimore City and all of Washington, DC and Greenbelt and Landover, Maryland and Alexandria and Arlington, Virginia.
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