Norfolk, Va to Hershey, Pa best route

We usually take US17 from Fredericksburg but are typically heading to I66 then I81 north. Not sure how 15 is until you get into Maryland, believe it's 2 lane but not terribly congested. Think I've seen posts about it, you might try a search.

We've been bitten by traffic delays and don't drive interstate speed limits so we often travel US 460 to I295 to 95, especially in reverse coming home where we get off 64 at exit 286. We tow a 5er.

You could always take U.S. 17 north of Fredericksburg to U.S. 15/29 and head North. Stay on U.S. 15 Northbound until PA 581 East. When you drive past the Shopping Outlets on U.S. near Gettysburg, wave at the 1000 home housing development on your right past the outlets. I can hear the traffic on U.S. 15
I take that route to Fredericksburg/Spotsylvania and Chancellorsville all the time for battlefield visits.

Also be advised that southbound U.S. 15 as of right now is one lane from PA-394 until the Maryland Line.