If you're going to drive I-95 from the north, I recommend taking it south as far as northern Delaware (I have some insight there....check the ID

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Try to plan your trip to get to northern Delaware before 4:00pm, as traffic will be a little lighter. Head south until you get to the exit for Delaware Route 1 South (it might also be marked Rt. 7...same road at that point. You'll know you have the right exit if you see Christiana Mall on the left.) Take Route 1 south for several miles, over the Chesapeake and Delaware Canal (toll booth on the southern end...take your EZPass), and get off at Delaware Route 299 West to Middletown, Delaware. Take 299 to US Route 301 South. This will take you towards Annapolis, Maryland. Just beyond Annapolis, you'll have a option to continue south on 301, or continue west towards DC on what becomes Route 50.
If you take Route 301 south, there will be a little stop-and-go from time-to-time, but that offers ample potty break places, gas and restaurants. You'll go over the Potomac River bridge, which I think is the only "bad" part of this route. (The bridge is one lane in each direction, but it usually moves rather well.) There isn't a lot of police enforcement in this stretch of road (read into that what you wish...). Route 301 will take you to I-95 just north of Richmond, by the exit for I-64 to Williamsburg, VA.
If instead you choose to continue west from Annapolis, the route number will turn into 50 West, which will take you to I-95 along the DC beltway. I find this stretch a little difficult if you don't know the shortcuts to get around traffic. But, you'll find I-95 near New Carrollton, MD.
Either of these routes will shave at least an hour or more from the trip. If I had my choice, I'd take Route 301 south from the Annapolis, MD area. The drive is a little less intense, providing a little breathing room, especially after several hours behind the wheel. It also keeps you away from the dreaded DC beltway...I have yet to find a good time to drive that road.
I hope this helps.