I'd recommend taking 84 south off the Mass Pike, and cross into NY at Newburgh, if you think you might be arriving in that area around commuting time. The Tappan Zee can be a 4 mile traffic jam at that time of day.
Then, take 87 (NY thruway) south, pick up 287 and go south and west to go around the NYC metro area.
At the end of 287 you can pick up 95 again. At that point, 95 doubles as the NJ turnpike - I'd advise staying on that (or maybe 295; haven't gone that way yet) right to the Delaware bridge. That keeps you out of Philly traffic.
After that, it's a straight shot into Baltimore, where you have options to go through or around. Base that on time of day and traffic. Same for going around Washington, but we normally take 495 west, and rejoin 95 just south of DC.
If you want to break it into 2 days, Fredricksburg VA is just about the halfway point, and there are some decent, inexpensive hotels at exit 133 @ route 17. That's about 10-12 hours for us, starting from NH 93 @ exit 3. We
can drive longer, but found, through experience, that it's not a good idea for us, even though we swap driving at regular intervals.