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Driving fr Philadelphia to Cape Cod. Midway city to explore for a day?

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Hi All. So we're driving from Philadelphia at the end of July to do a 7 day rental in Cape Cod. We will have 1 yr old twin boys with us. At first I was looking at staying in Providence (because I've never been) but am realizing that it will be a 5-6 hour drive (or longer for stops). What's another city you would recommend that we can stop off in and stay the night where there will be enough to see and do for a day? Should we just try Providence anyway? We can leave Philadelphia pretty early if we need to. I've never been to Connecticut. Is New Haven a good midway point?

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