🚀 go-pugleaf

A real scenic route would be to take US 1 from Baltimore up to the
Philadelphia area, then pick up US 202 around the north side of
Philly, to PA 263 just south of New Hope, crossing into NJ at Center
Bridge, PA/Stockton, NJ and then NJ 523 through Flemington to I-78
near WhiteHouse to I-287 to Boonton, taking US 202 again through
Suffern, NY to the Palisades Interstate Parkway, crossing the Hudson
at Bear Mtn. Bridge, and on up 9/9A.  That's as far as I've gone, but
there are connections through Connecticut or NY to Massachusetts and
east to Boston.  The only toll is at the Bear Mtn. Bridge, and it's
cheaper than any further south on the Hudson.  (The bridge over the
Delaware at Stockton is a free crossing.)  US 202 has some urbanized
sections from King of Prussia through Montgomeryville (at
Montgomeryville, PA, one can leave 202 by going straight ahead on
State Road at the 309 intersection and rejoin it in about 6 miles,
bypassing a lot of urban crawling through Chalfont), but much of the
rest is quite scenic, such as the dam at Conowingo on the Susquehanna,
the hills of Hunterdon County, NJ, and the Hudson crossing at Bear
Mtn.  It will take longer than I-95 all the way, but less than you
might think.  Rush hour is not a good time to hit the King of
Prussia/Norristown PA area, though.  (If you find yourself there
around lunch time, try to locate Pudge's in Whitpain Township/Blue
Bell, PA right on 202 in the deKalb Shopping Center, a small strip
mall about 1 mile north of the Germantown Pike intersection, or 4
miles north of the Schuylkill River bridge in Norristown.  You will
never accept the local substitute for a cheesesteak again!  Best bet: 
the pizza steak.  Buy a "Pudge" sub to eat on the road later!)  (I
used to live two blocks from Pudge's.  First place I ate when I was in
the process of moving there; last place I ate as I watched the moving
truck disappear south towards DC.  Seven years gone and the cashier
still remembers me.)
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