I live in North East and agree that if you have a choice take I81 up. 95 is just horrible on a good day. I95 in Maine I believ would be fine having driving it many times the size of the truckers going up there are huge. Google I95 there are books and websites that provide all the information.
We Camped at Bar Harbor Oceanfront KOA and had a great time. We had a waterfront site. They have a guy that cooks lobsters every night and you just walk up and pay. Something really cool is that they have a free bus that circles the island. All you need to do is walk up the office and wait for it. This will take you everywhere. On the way into Mt Desert Island which is Bar Harbor on the right side of the causeway is Trents Lobster Pound. We devoured the sweetest most tender 2.5 lb lobster that we ever had. Acadia we took our bikes and biked the park, drove some and had lunch up at the lake house. Amazing country!
Happy Trails