I'll let you in on a little secret about Baltimore... if you're going I-95, you should definitely stop by. I grew up there, and while I moved to Florida 16 years ago and would never move back, I absolutely love to visit my old neighborhood of South Baltimore. It was lower-middle class blue collar when I was growing up, but in the late 90's and early 2000's, it really got gentrified and revitalized.
It's a historic neighborhood to boot, and really captures the magic of an old American city.
Here's a map, it's literally right off of 95, where I'm talking about. Key Highway exit, just South/West of the tunnel.
As someone above mentioned, the Inner Harbor is pretty nice, but also very touristy, whereas this map will take you down Fort Avenue, to Fort McHenry, a very modest laid back (and never too crowded) historic park with some cool stuff to look at, including a living museum mostly focused on the War of 1812. All down Fort Avenue there are great places to eat. If you like steamed shrimp or Maryland style blue crab, L.P. Steamers is right on that street, and I recommend it.
Yes, Baltimore is a joke because of all the libs and riots and other leftist BS, but if you're gonna be on 95, you'd be depriving yourself if you didn't stop by. I can 100% guarantee there is no ghetto or anything to worry about on the path I mapped here, South Baltimore was nowhere close to any riots. I will leave it up to your imagination to figure out why. :)
Here's a street view link to the intersection of Lawrence and Fort Ave, where that map takes you. You can follow it east to get to Fort McHenry.
https://www.google.com/maps/@39.2718067,-76.6017599,3a,75y,133.98h,89.46t/data=!3m6!1e1!3m4!1swJqgD07w7q8zSyMxhHr1eA!2e0!7i13312!8i6656
Wherever you go, have a great and safe trip! The wife and I also love a good road trip. One of the best and most cost-effective vacations you can take is just traveling the road and seeing new places.