Road trip tips, advice, and opinions please. Pennsylvania to a Maine.

Hello,

My wife and I want to plan a trip with our kids (14M, 4M) from Northeast PA to Maine. We are the type of family that likes easy hiking, and general exploring of the big sites. Some ideas we have are going to some national parks or a beach or even the Ben and Jerry's factory. I'm asking for tips on what else we should consider along the way. If anyone has had great experiences in that area. We also have family in Connecticut so that would be a good halfway point also. Even restaurant or hotel advice would be appreciated.