From Norfolk, the CBBT and US 13 look awfully inviting. I haven't personally taken that route ever, though. From there, I'd find my way to take I-287 around the NYC area, staying on it to I-95 in Connecticut (which is often fairly congested, but not like going through the middle of NYC). Do be careful to avoid the various parkways in New York and Connecticut as they are for automobiles only, with good reason, and some are otherwise rather obvious routes. The Garden State Parkway in New Jersey does permit RVs.
Ferndaleflyer's route via I-81 is not a terrible option, either. I-84 in New York (especially) and in Pennsylvania had quite rough pavement the last time I was on it, a few years ago.