The Co-Pilot RV app is good for on the road routing to keep you away from low overpasses and roads you shouldn't be on. There's a yearly fee, but definitely worth it.
For planning I like RV Trip Wizard. It lets you set you rig's dimensions, the number of miles or hours you want to travel and routes you according to your size. The web site app draws a circle around you current location at the hours/miles radius you specified and shows all campgrounds along the way. I go out to the edge and pick a place and "view details". Trip Wiz has a link to campgroundreviews.com (same company owns both) so you can see how they rate.
You didn't say where on Chesapeake Bay VA, but I'd do I-87 south to the Garden State Pkwy, to I-95 to I-195 to I-295 across the Del. Mem. Bridge, then down US13 or MD1 to US301, across the Potomac at the Nice Bridge if you're going that far.
Jerry & Jeanne
1996 Safari Sahara 3530 - 'White Tiger'
CAT 3126/Allison 6 speed/Magnum Chassis
2014 Equinox AWD / Blue Ox