You are going to be 4 hours on the road. NJ turnpike to Delaware memorial bridge (exit 1) or I-295 and avoid Pennsylvania & Philadelphia traffic.
If you leave Queens & drive to NJ, on workday, suggest you start per your local knowledge after rush-hour, aprox 10am,
Avoid Phila traffic, pass Wilmington/Newark Del about 12:30pm, You are at Baltimore beltway at 2:00 pm.
Otherwise leave after your local rush hour, approx. 7pm and arrive at 11 pm
Absolutely. You need to stay off off I-95 if at all possible. If you are interested in areas south of Balmer, consider 301. I used to go that way to get to Pax River, and it was pretty easy.
I’d take 295 just to be able to swing by the old Howard Stern rest stop. Unfortunately you can’t take a leak there anymore unless you do it San Fran style.