As bad as 95 can be, coming from Plymouth, I'd take I-95 to I-287 across Tappanzee Bridge then Garden State Parkway to NJTP to DE Memorial Bridge to US 13 to US 1 to Dover.
To avoid part of I-95 you could take MA Pike to I-84, but at Hartford, I'd recommend you take I-91 south and pick up I-95 around New Haven.
I know 95 is a bear at times but we've often overnighted at Mohegan and leave there about 8 to 8:30 and make out fairly well.
BTW - welcome to irv2.
Formerly had 07 Neptune 36PDQ, ISB 325, Allison 2500, Source Trailing Arms and Ride Enhancement Kit, Demco KarKaddy 460SS.
Currently no Motorhome