We have been making the FL to MA trip for years and also use Rt 81 instead of 95. Memory says using 81 is about 100 miles longer than 95, but for us it feels more comfortable.
Not sure where we stay will help as it does not sound like our time on road matches your plans. We break the trip up into two days, the first is about 13.5 hours and the second is about 9.5 hours.
Going north we have found a nice Comfort Inn located in Harrisonburg, VA. Clean and accepts dogs.
Good luck, be safe.
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