I use to live about 30 miles north of Baltimore near Cal Ripken Stadium, that's on the rightside of I-95 as you pass Aberdeen southbound.
I would stay on I-95 until after passing the Baltimore Beltway I-695 on the northeast side of Baltimore. About 8 miles later you'll see a split, take I-895 Annapolis and you'll bypass downtown Baltimore and go through the old tunnel. After you come out of the tunnel look for the exit I-97 Annapolis. Take I-97 about 30 miles and you'll see an exit for Rt 3 to US 301. Take that exit and you'll join US 301 and go through Upper Marlboro and cross the Potomac River about 20 miles after Waldorf, MD. Plenty of places to eat or get gas along that stretch between Upper Marlboro and Waldorf.
Stay on US 301 and take the entrance to I-295 the Richmond Bypass, that's about 5 miles east of I-95. You'll be in the perfect position going around Richmond and then join I-95 south of Richmond, VA.
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