Natural Tunnel State Park

We will be traveling from southeastern VA to Natural Tunnel in Duffield last this month. We know that due to our travel trailers length we cannot travel the most direct route on 58 west. We had a close call on Rt 58 when we met a tractor trailer on a 2 lane section coming around a hairpin turn East of the Blue Ridge Parkway. Does anyone know of a safe route from the east coast to Duffield that does not involve driving around our elbow to get to our thumb (up towards Charlottesville on 64 then picking up 81 south)? Is there way to avoid the 2 lane sections of Rt 58 but still stay on STAA routes?...