That's a tough one. Sort of depends on 'in range'. The only one I can think of on 58 would be North Bend COE which is about 3 hours away. We have also stayed at Americamps in Ashland right on I95 just north of Richmond. That is about 2 hours away or more depending on traffic. There is also Chippokes Plantation State Park about an hour away.
What part of upstate NY are you coming from? We travel to Syracuse to visit family and take I81 to I66 to US17 to I95 to I64 to avoid DC. It is actually shorter to take I81 to I476 to I95 then US13 down the eastern shore. If you took that route you could stay in Virginia Beach (Holiday Travl Park or First Landing State Park) then leave on US58. As long as you don't leave early in the morning you would avoid most bad traffic. First Landing is only a couple of miles from US13 and leaving you would pick up the interstate heading against most of the rush hour (58 joins the interstate). Your friends can advise more about the traffic.
If you decide on Chippokes, take I95 to US460 then follow signs to Chippokes. Return to US460 and continue east until it joins with US58.
