I would do about anything to keep off of I-95 as much as I can. I-81 is notorious for truck traffic, but that's because the trucks ALSO like to stay off of I-95 as long as they can.
I would do 81 to 77 to 26 and then finally get on 95 when I absolutely had to, in South Carolina.
These are pretty good roads, at least the 77, 26 part are. I haven't been on 77 above West VA in several years, but it was a good road then.
2017 Ford F350 Crew Cab 6.7L 4x4 DRW