Taking Hwy 301 is the only way I've gone. I go through Richmond and about 20 miles north exit onto 301 and cross the Potomac into Maryland, go through Waldorf, Upper Marlboro and Bowie and pick up I-97 about 30 miles south of Baltimore which connects with I-295 through the old Harbor Tunnel and then join I-95 on the northside of Baltimore. From my old home in Belair, MD (near Aberdeen Proving Ground) it was 3 hours exactly to Richmond. You'll hit a lot of traffic in Waldorf, but if you're hungry they have every restaurant you could want.
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