2 options:
You can take I84 west into NY and pick up I81 south and take that to I64 in Va. That will take you back to I95 just below Richmond.
Or,
If you just want to bypass Baltimore and Washington you can take I95 into De and get off on 896 east/south (can't remember which it is but it's the last exit before the toll) That will take you to US301 which will cross into Annapolis and bring you out halfway around the DC beltway.
Personally I'd suggest I81. it's longer but a more relaxed ride if you don't care for the traffic in the northeast.
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