I've done 2 routes that way.
I-84 to I-81 to Winchester VA picking up US50 and US17 to get back to I-95 just north of Fredricksburg VA, then I-95,I-295 and I-64. You can cut the corner and miss Scranton PA by taking US209 down the Delaware Water Gap to I-80 to Harrisburg and pick up I-81 there.
The other route is I-84 to I-684 to the Tappan Zee (or stay on I-84 to I-87) to I-287 to the Garden State Parkway (yes, you are allowed on the northern end of the GSP) to I-95, then I-295 over the Delaware Mem. Bridge and down US13 over the CBBT.