I made that trip the opposite direction in May of 2012. When you say "ICW friendly" what is your air clearance (masthead with all attachments). My air clearance is about 64 1/2 feet including the VHF antenna and there are some bridges between Beaufort NC and Norfolk, particularly the Bell Haven Bridge that can be below 64 feet depending on the wind and rain. Also, you have to time your tansit for some of the draw bridges and if the wind is over 35 kts (I think thats the limit) they will not open. I'd get a copy of the ICW guide and study it. There is a book, I can't recall the name, that has good info on anchorages along the ICW. Not sure what the virus restrictions will do to your plans as far as fuel availability, marinas, places to visit, etc. If you can take your time it is a nice trip. We took our time and did not leave at the crack of dawn and generally stopped well before sunset, often about 5:30 or 6:00 pm. It was my wifes first long trip and I wanted to make it a good experience for her.
I bought my boat in New Rochelle and moved it from there to Beaufort, SC. I was off shore form New York Harbor past NJ to the Delaware Bay, up the bay to the canal and over to the Chesapeake, down to Norfolk then the ICW all the way. We took the Dismal Swamp Canal route and it was very pleasant. If you have specific questions fire away and I'll give you what I know, even where we stopped as I have it in my logbook from the trip.