From Pa. to the Florida Keys

There are numerous ways to get to I-95 from Harrisburg - we're now kind of partial to taking Rt. 15 south into Maryland and then (depending on where we're heading) cutting over to I-95. That said, we've used the following CG's for overnighters enroute to FL or SC:

Americamps Richmond North (which I believe now is a KOA) - fairly easy on & off, with fuel & food right at the interchange. We've called ahead and they've had a site ready for us after the office has closed. That's a bit too close to PA so you might also want to check out -

Fayetteville KOA - just off of I-95. Now it's been 12 years since we were there but they had level pull-thru's. Nothing fancy so it's perfect for an overnight. By far our favorite has been -

Green Acres CG in Walterboro, SC. About 50 miles north of the SC/GA border; easy access on & off, services nearby if you need them. Long, level pull-thru's shaded by tall pitch pines. For us it was 14 hours of driving, but I don't push it when I'm towing.

From Harrisburg why take 95? 81 to 77 to 95

We always stopped at the South Of The Border campground on the North Carolina/South Carolina state line. They have nice pull throughs which are easy in/out. Reasonable prices also. It may be called Pedros Campground.