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Nice town to sleep/dine in near I-95 between Baltimore and DC

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I am driving from NYC to Florida over 3 or 4 days and on my first night I would like to sleep in a comfortable and clean B&B or small hotel in a nice town with good restaurants.
I am trying to avoid the busy DC area. As I plan to stay on I-95 all the way to Florida, I prefer something not too far from it.
I cannot drive more than 5 h a day.
Thanks for any suggestion.
Maria

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