If it were me, I'd leave earlier and just take I-95 (295 around Richmond). We travel from southwest NJ (about an hour north of you) to southeast GA multiple times a year, just did it last weekend. We leave NJ at 3 am and get to the top of NC by 8 am. That's with Cruise Control on 74 and no stopping other than tolls. No traffic anywhere at 3 am.
Since you are heading to Orlando, if you need to get there earlier in the day, I'd recommend getting into Georgia. Travel hard that first day and then take a nice easy drive from GA to FL. Orlando traffic is rough almost any time of the day. We just drove to Celebration, FL (about 15 minutes south of Disney World) for the day yesterday. We left the house at 5:15 am. When we got to Orlando around 8 am, there was already traffic building. Construction is the culprit right now.
It's been a long time since we stayed at a campground along I-95. Once we bought the Motorhome, we just stopped at Walmart for a quick overnight. I have noticed most of the campgrounds (mostly KOAs) that we have stayed at before the Motorhome, no longer advertise along I-95, so I don't have any recommendations for you there.
-Michael
