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Road Trip: Boston to Dallas to Richmond VA back to Boston

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I am taking a road trip to Dallas next month from Boston, and on the way back we would like to stop near Richmond, VA to drop off a family member. Was hoping to take two different routes so see twice the amount of stuff. I was wondering the best route?
When I drove back from Dallas last March we kind of winged it and I hated the route (particularly PA). Every time we got to a major city we used the gps to get directions to the next one, probably why it took us on so many random roads. I'm extremely afraid of heights, so sides of mountains with no guard rails is what I'm trying to avoid. Also trying to avoid NYC cause of the heights, too many bridges for me and too much traffic! Mostly just want to see the major cities, probably just hit the local non touristy spots. I'll have about 7-9 days off from work to take the trip, anyone have any suggestions? Or do I just have to get over my fear of heights lol.

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