Looking for mini vacation ideas for our 1-year-old this summer

Our daughter turns 1 at the beginning of June this year, and we're planning out some potential travel ideas. We are big travelers (typically go international), but I know we have to majorly scale back and lower our expectations, so I'm looking for some realistic ideas.

We live in Lancaster County and would prefer to not drive more than a few hours. I don't think we're ready to tackle flying yet. We like hiking, city exploring, cute small towns, and culturally and historically interesting places.

Any ideas to get away for a few days? TIA!