Just so happens I am from Lancaster and I live in Kitty Hawk.
I frequent this trip 3/5 times a year as I have family at the MD line off 83 as well as in Lancaster.
I prefer 301sout out of Baltimore to 17 S in Port Royal then 64, 664 around Norfolk and Chesapeake to 168 south. I usually come out rt 1 south of the conowingo and 695 around the city, 97 south to 50 west to 301.
896 over to 13 south is the fastest route but my got the stop and go, speed traps and the toll at the CBBT is rediculous.
Avoid 95at all cost. I have been stuck on that road between DC and Richmond more than I want to talk about.
2015 Ram 3500 Dually
Sundowner 2286GM Pro-Grade Toyhauler