The last time I came South (using the AutoTrain) I avoided Baltimore and DC completely. In reverse, from I95 Lorton, Va, head towards Frederick, then head towards Harrisburg, Pa, then head east to your final destination. This is out of your way, but it is a nice ride, and MUCH better then I95, and there plenty of places to stop if you need to. As stated before, I would use AAA or at a minimum Google maps to confirm route.
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