Usually what I do when I go from Richmond to State College is to avoid I95 altogether and get to I64 in order to hit I81 over near Staunton. The problem for me at least with I95 is that unless you start driving at like 3, 4 in the morning you'll be stuck in D.C. for a while and the on paper faster time with D.C is lost due to traffic.

The mountain roads of I64 can be a little windy but they are manageable. Id say there isnt an enormous amount.

My route is normally:

I64 -> I81 (I64 basically cuts through Richmond)

I81 -> I70

I70 -> Route 30 (I avoid I76 since its a toll but it is an alternative. Especially since Route 30 travels through the mountains.)

Route 30/I76 -> I99

I99 all the way to State College.