It depends a bit on the way you drive. Google maps times may not take into account stopping to eat or get fuel. For a trip of 243 miles straight down the I-95 for which Google maps estimates a time of 3.5 hours, we drove from a little after 10 to 12:20 (a little more than 2 hours), and stopped half an hour for lunch, and then drove from 12:50 and after a stop for gas we were at our destination at 2:30 which is about another hour and a half of driving. The total elapsed time was 4.5 hours, and the driving time was a little more than the 3.5 that they estimated. But we weren't in a hurry because we didn't think we could check in at the motel that early so we weren't pushing it.
I have not driven in that area at all, so I don't know whether there are any special factors to take into consideration.