While i have never driven to FLA from home (I live just outside of Valley Forge National Park), I have driven to VA many times (my uncle was in USMC and stationed at Quantico, just 30 minutes south of DC - I also have relatives in Rockville, MD, just north of DC).
I always go 202 to 95. When I get to Baltimore, I go thru the Ft. McHenry Tunnel. Once I broke down as i was pulling into the toll booth! But I find that way is better than the loop (695?) that goes around Baltimore.
The Capital Beltway is ALWAYS busy. The worst times are rush hour of course, but I have sat in traffic trying to get back on to 95 when the loop is done at lunch hour. I always go on the western loop (towards VA), mostly out of habit, b/c I must go that way if I am going to Rockville. Once back on 95, you are good to go.
My tip would be to stop by Potomac Mills, probably on your way home. I always stopped in there, as it is bigger (and better) than Franklin Mills around here, AND the Disney Catalog Outlet is in there. I usually park near the food court, as the store is close to that, shop, get a bite to eat, use the restroom, and gas up at the gas station there (Texaco, I think).
Safe driving and have a great trip!