I agree that the trip down Rt13 on the Eastern Shore is much more relaxing than I95. Yes, it is only 55 mph, and yes there are multiple traffic lights, but seldom has nerve racking traffic, and there are plenty of places to stop for fuel, food, and campground.
Another option is to take I287 to the Garden State Parkway (RV's are permitted from there south) all the way to the end at Cape May, then take the ferry over to the Eastern Shore. Toll is a little pricey, but it is a nice relaxing and scenic ride. There are lots of campgrounds in Cape May County if that works out to be an overnight stop,
