Family road trip Washington DC-Stuart, Florida
 

We are planning a family road trip from Washington DC to Stuart, Florida with overnight stop offs at Charleston and St Augustine along the way.
We would like to take a scenic route rather than simply follow the main highway all the way. However, we also need to get from W to C to S in a couple of days. Kinda trying to get there as fast as possible but see what we should see on the way.
Can anyone suggest a route that would combine the main fast roads with departures that would take in what we should not miss on the way.
Also does anyone have any suggestions for overnight accommodation in Charleston, St Augustine that a family of 5 (4 adults and a child (8)) could use without breaking the bank.
Is there any must visit attractions, food establishments etc along the way.
If we are going from Washington to Charleston, and Charleston to St Augustine, then St Augustine to Stuart, Florida where should we stop for breakfast/lunch/evening meals along the way.
Any advise on the above queries or any other advice that you think we need please do not hesitate to advise.
Thanks in advance.

Washington to Charleston-take 95 to I40West to Wilmington and then Route 17 down to Charleston.
You might like to stop and eat a meal in Murrell's Inlet for a real southeast coastal seafood treat.
Between there and Charleston is Georgetown--a Revolutionary War town worth a drive through.
There is A LOT to do in the Charleston area--you are not quite clear on your day allowance for that trip. I'd prefer the Charleston area to St. Augustine but they are different.
You might look on hotels.com and booking.com for places to stay. I think it would be hard to tell you where to actually stop for meals.