Hudson Valley NY to Virginia Beach

i agree with wanderingaimlessly, US 13 and CBBT.

My vote would be I-84 W to I-81 South.

Are you trying to go it in one day each way?
You couls take I-95 south to the Delaware Memorial Bridge and then take US 13 south on the eastern shore of the DelMarVa peninsula. A great stopping point is around Chincoteague/Assateague island. Wildlife refuge with wild horses and Sika elk, NASA wallops Island facility and several campgrounds in the area including Assateague State park in Md.
Then continue down 13 to the Chesapeake Bay bridge tunnel, a 26 mile water crossing. The crossing is standard 4 lane with 13'6" clearance in the tunnels. The only consideration is that they request you shut off your propane for the crossing. and there is a toll.
The south end of the CBBT terminates at the north end of Va Beach.
It's no longer distance wise taking this route and is a pretty drive, vs interstates and having to take I-95 thru/around Baltimore and DC.

Quickest way I would say is straight down 95 from where you are. Otherwise, 84 west to 81 south.