Another option is in Baltimore is to take I-895 to I-895B I-97S to MD-3 to US-301S. It takes you back to I-95 near Richmond so you skip DC altogether. You then have the option of staying on 95 through Richmond or taking I-295 south around Richmond.
If you use Google Maps on a computer you can drag a route to do this. With any luck this link will work
301 Around DC