One halfway point between Milford, PA and Virginia Beach, VA is Kitts Hummock, Delaware. You could also consider Baltimore, MD a halfway point.
Milford, DE
Quechee, Vermont is halfway between Milford & Burlington
Westacres, Michigan is halfway between Milford & Bloomfield Hills
The halfway point between New York City and Hampton Va is Milford, DE.
Munger, Michigan is the halfway point.
Hookersville, WV
Milford, CT
Belle Terre, NY
New Milford, PA
If you drive I-80 most of the way, the halfway point is on I-80 between Clarion and Brookville, PA, northeast of Pittsburgh.
It is 96.4 miles according to Google Maps.
It is a road dstance of 165 miles according too Google Map and Lansing, MI is an acceptable halfway point.