This year I have been back and forth to Lynchburg VA a bunch of times. Sometimes I take I-95 and sometimes I take I-81.
Last weekend I did both. So, we went I-81 going to Lynchburg (Thurs. afternoon and evening) and Route 66 East to I-95 North on the return trip Sunday afternoon and early evening.
Northern VA's Route 66 was just miles and miles of road construction. The I-495 Washington DC beltway to I-95 North was peppered with super aggressive drivers who pass on the right and and then cut the wheel sharply to the left...then right...then left....zig zagging wherever they can to get ahead. I did not enjoy any of that! Next time I'll probably use I-81 BOTH ways.
Yet I started all this by quoting
@MySmallWorldof4 's very accurate statement that I'd like to support. I-95 is fine once you start to approach NC.

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Additionally, I-81 is fine going to Lynchburg but it would be a wrong choice if ultimately going to Orlando.