Imagine you will take US35 to I64. We find the drive through WV with hills and trucks to be very tiring, so you might find the 500 to 600 miles a bit much.
Some places we have stayed include Douthat State Park just inside VA, the KOA near Stanton, Misty Mountain in Crozet, Americamp just north of Richmond. If you follow I64 then take I295 beltway on the north side of Richmond, Americamp is where I295 and I95 meet. That puts you about 2 hours from Virginia Beach so you should be late enough to miss rush hour (assuming you don't leave Richmond before around 8). Add about 1 1/2 hours from Virginia Beach to Waves... Crozet is just west of Charlottesville about 4 he's from VB.