Baltimore to Maine
 

My BF and I are planning our first trip in our RV. We will be leaving the Baltimore MD area on July 26 traveling to Bar Harbor Maine, returning to Solomans Island MD on Aug. 2. We have reserved a site within Arcadia however want to make the most of the trip there and back. We will be towing a vehicle and are bringing bikes. What route should we take to and from and where would be the best stopping point for a 1 night lay over on the way and back. We want to see as much as possible. We are interested in beautiful sites, unique settings and can't miss experiences. Not as interested in the big cities but the quaint, new england experiences. Please included Great food ideas !!!

I-83 past Harrisburg PA and I-81 to I-84 crossing at Port Jervis which totally avoids New Jersey.
You should spend at least 1 night in a campground on the Kancamagus Highway (112) in New Hampshire.
I'll let others tell you what to see and eat in Maine.

I took the above route from Silver Spring, MD to Western Mass a few years ago. I found the trip a lot more pleasant than Rt. 95. I like Western Massachussetts. There are a lot of nice towns there. The Normal Rockwell museums is really nice.

I mean Norman of course. I always type normal by mistake. duh

Agree with tomfuller. That is the route we always take. I HATE the Mass Turnpike even more than I hate I495 and I95.

You've got a problem with staying over one night along the way because that puts you on a Friday driving to Maine. You should try to be north of Portland by early afternoon. We usually vacation in the mid-coast area so we get off I95 in Brunswick and travel Rt 1 the rest of the way (Chewonki campground in Wiscasset is a great small campground). But Rt 1 goes thru downtown Wiscasset and the narrow bridge helps create traffic congestion - backed up for a couple of miles around commuting time.

Great food ideas include visiting the farmers markets. Brunswick has a great one on Fridays (haven't been to the one on Tues). Planning to visit the one in Rockland this year.

Since we live in the Concord NH area we find the speediest way thru MA to be I91 thru western MA. Get off in Brattleboro VT to head to Keene NH. Then it's Rt 9 to Rt 202 to I89 then north on I93. In Concord NH switch to I393 which will bypass the commercial congestion and put you on Rt 4 heading to Portsmouth. This is my preferred route to the seacoast but some Fodorites have said there is too much traffic stopping for the antique shops along Northwood on Rt 4. Be warned. We never have a problem. As you approach Portsmouth there is a wonderful park on the water (Great Bay) where you can stop for lunch or a stretch. (Hilton) To me, Rt 4 from Durham to this point is very scenic and I love going over the bridges. You can then get on I95.

Coming or going, IF you camped in the Concord NH area you could take a kayak trip on the Merrimack River putting in in Boscawen. The rental place will drop you off, pick you up. I've only done this once with a friend who kayaks. She says this isn't the prettiest paddle but I thought it was unbelievably pretty with plenty of places to pull out for a picnic lunch. There is very little road access to the beaches along this part of the river so they aren't crowded.

The foodie tour in Portland ME is great but the RV would give you a parking problem. I think there is RV parking at Stonewall Kitchens and When Pigs Fly bakery outlet on Rt 1 in the Kittery ME area but check first. Both offer lots of food samples. Buy fresh blueberries to mix with vanilla yogurt. I think your timing is good to see trucks along Rt 1 selling blueberries.