I'd suggest picking up I95 to Fredericksburg, VA, then US 17 west to I66 west to I81 north to Hagerstown where you pick up I70/68 west to Morgantown, WV then I79 north to your choice of westerly highways to home.
An alternate would be to pick up the PA turnpike off I70 but then you have tolls and the hills are about the same as I68. There is one tunnel.
People's take on hills is very subjective. I've driven these routes many times with an F250 with the 5.4l engine pulling a 30' tt. We didn't win any races up the hills but we got there. Once you get to Morgantown you're pretty much over the mountains,
I'd stay off US 50 in WV and forego US 30 east of Breezewood.