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I would take I88 from Albany to Binghamton and pick up I81 south.
Take I81 to Harrisburg and pick up US 15 south. Stop in Gettysburg if you have time.
Take US 15 south to US 17 south around Culpeper. This takes you to Fredericksburg back onto I 95.
You could run US15 down to I64 and take it east to Richmond. Stay away from Baltimore and Washington DC. I lived there many years.
Safe travels.
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