I’ve driven from Baltimore to Maine about 10 times, and Baltimore to Mass, separately, about 4. And Baltimore to NYC about a million.
First of all, it’s NOT necessarily easy. If you just “stay on 95” you’ll find yourself in Trenton, NJ looking like you’re at the end of 95. You’ll pull out a roadmap and realize that somehow I-95 is 20 miles east of you, and you need to go back south and east to get on it.
Second: 95 is faster than any of these other routes. Don’t go 81. You can save on tolls, but don’t think you’ll save any time or gas. Maybe it’s different if you’re going from Northern VA than Baltimore, but I doubt it. 95 is so much more direct. And, there’s ALWAYS construction in PA it seems.
OK. . . here’s the important stuff. . .
The way to avoid this “Trenton” confusion is to get on 295 to go across the Delaware Memorial Bridge (Del-Mem-Br on road signs) and get onto the New Jersey Turnpike. This eventually becomes I-95 again, near the aforementioned problematic Trenton area.
Now, when you get up to NYC, you can go across the Tappan Zee bridge or the George Washington bridge. If you’re going to Stamford, it’s almost definitely easier to take the GW bridge. That, IINM, is I-95. You’ll battle some traffic up there, but just follow the signs for “NEW ENGLAND” and once you get out of NYC, you’ll be right near Stamford.
If you go across Tappan Zee, you have a lot more turns to make, and you’re going out of your way. It’s kind of crazy up there, but manageable.
Around Baltimore, I think it’s easier to take the Fort McHenry tunnel. That just involves staying on 95. If you do find yourself heading towards the Harbor tunnel (895), don’t fret. It hooks right back up with 95.
So, basically, once you get off the DC beltway, the only thing you have to worry about is getting on the Del-Mem-Br instead of staying on 95. Other than that, 95 right into Stamford.