If you're looking for a meeting place or a good stop around ½ or halfway between Baltimore and Boston, you can try Jersey City, NJ, which is about 3½ hours northeast of Baltimore, or about 3 hours southwest of Boston.
Another possible place to stop near the midpoint is Yonkers.
About ¼ or a fourth of the way, you can stop at Philadelphia, PA. This is about 1½ hours northeast of Baltimore.
About ⅓ or a third of the way, you can stop at Edison, NJ. This is about 2½ hours northeast of Baltimore.
About ⅔ or two thirds of the way, you can stop at New Haven, CT. This is about 4½ hours northeast of Baltimore, or about 2 hours southwest of Boston.
About ¾ or three fourths of the way, you can stop at Hartford, CT. This is about 4½ hours northeast of Baltimore, or about 2 hours southwest of Boston.
If you drive straight through without stopping at all, the total distance is 404 miles. The distances shown above don't include local roads to get into each town, so if you're planning a long road trip, make sure you factor in traffic and road conditions, rest stop breaks, and interesting detours along the way. If you're in a rush, you can do the trip with zero stops, and your total travel time would be around 6 hours, 30 minutes.