It sort of depends on how long you plan to take for the trip. We would take 95 to Florence, stay at Swampfox RV, not great but level and fhu then take US 29 to Charlottesville then I 64 to I 81 to I 88. From Albany area the options are I 90 - expensive tolls - or US 20, our favorite road. This is much slower, avoids major cities and no tolls at all.
From Florence we are 6 hours from our son so not sure where to stay in Charlottesville area, must be a Walmart on the route. The intown walmart is a no no impossible access and not permitted (also well out of your way).