Welcome to RTA!

Best route for a RV is the Chesapeake Bay Bridge to the north beltway to I-66 to I-81 to I-40 to I-17 to AZ-260. We have a forum for camping along Interstate highways:

https://www.roadtripamerica.com/foru...-Camping-Guide

This is a 2400 mile drive, 6 days would be 400 miles a day.

If you do not want to use a campground, you can usually park overnight in a truck stop with permission, park where directed. Do not "set up camp" or open slides, it's only for sleeping in the RV. Be sure to give the establishment some business - buy fuel, buy food, etc. It will NOT be quiet, you will hear trucks running all night.