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Another way
Try going to Schenectady, Bingamton, Scranton, Harrisburg, Gettysburg and then south on US15 through Leesburg (yes, it's 2 lane for a bit, but not bad at all) towards Warrenton. US17 joins up and take that south towards Falmouth, VA. The only real traffic you'll see is just before getting onto I95 before Falmouth. You'll go around NY, Phila., Balt., and DC, ending up on 95 almost to Richmond. Really pretty country and little truck traffic as opposed to I81. Take I295 around Richmond and you'll be south of Petersburg in no time.
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