I-95 doesn't connect, it's a broken highway. Usually, when taking I-95 south from the NE to VA, you get on the Jersey Turnpike, and reconnect to I-95 in Deleware. You don't actually go into PA.
BUT, you CAN choose to cut off the turnpike early and hit I-95 just north of Philly, if going to Philly is important.
This is a little ways away from the highway, but if you exit the last exit before going over the Delaware Bridge from Jersey to Delaware, and take US Route 40 a couple miles east, you'll find a gem of a roadfood place - the kind of place that should be in a roadfood book: Olympia Dairy Bar, 1073 Route 40, Carneys Point, NJ 08069. Footlong Hotdogs, hamburgers, fries, italian sausage, monster milk shakes, ice cream, sundaes, etc. Drive up, old time classic.
It's 4 miles from the exit, easy to get to and back on track. For me, this is the prototypical roadfood drive-in. Seasonal, and they're open now.