we just went from poughkeepsie to naples--we left on a sunday(no hurry for time) and stayed overnight at cabelas in pa.  took 78-81-17-66-95 you come out on 95 below wash and baltimore.  we drive a little longer than you,  we stayed overnight at south of the border and then at a rest area in ocala,fl.  went straight through richmond on the way down but took the west loop around on the way back.  it is a little longer than going 95 all the way but in actuality it is much quicker and a MUCH easier drive.  there are several campgrounds we passed that i had never heard of so if  you figure about where you want to stop and then use the next exit book you can probably find either a campground or a walmart to stop at.  have a nice/safe trip