When I'm doing longer trips I usually don't pick a stopping destination until later in the day. Weather, traffic, accidents, all of those things can really throw a wrench into the best-laid plans and there's nothing more frustrating than being exhausted at 9 PM but feeling like you have to keep driving for a few more hours because you already booked a room somewhere or you just 'had to' get to point X on the map tonight.

There are so many hotels along I-95 that I'd just drive until late afternoon or early evening. At that point when you feel like you've got another hour or few hours of driving still in you, pull up an app like priceline or something similar and look in areas about that much further down the road. They have hotel ratings on them so you'll know if the hotel is nice or not that way.