Get OUT of Williamsburg VA!
In case you are in Williamsburg VA, and want to go south, you may like my route. It is not obvious from a map. Any map of the city, region, or state indicates that you should go east on I-64, take I-664 to get over the bridge, and you are in the middle of some enormous cities, complete with enormous traffic.
No fun to think about, and probably less fun to do.
Here is what I did instead, and I enjoyed it a lot.
I took VA31 south to the Jamestown Visitor Center, bypassed the historic site, and easily reached the free ferry that carried me to Scotland Virginia, on the south side of the James River. Highway 31 took me south to Wakefield VA, where I think it ends. I happened to find VA628 (it's hard to miss, actually) and that highway carried me south to VA35, which reached North Carolina and turned into NC35. I continued south and found US258, which took me south to NC42, which took me west to US301, which took me south to I-95.
The entire ride from Scotland VA to I-95 was smooth, free of traffic, relatively direct, scenic, and full of trees showing their fall colors.
I needed I95 to cover a lot of ground in a hurry, so my exploration ended at the Interstate.