ICW Norfolk to Charleston

Technically yes. But you will be slowing to hull speed a lot for no wake zones, passing sailboats and trawlers, paddle boarders and kayakers, fishing on the edge of the channel, etc.
 
Well.... Yes, and no. There will be numerous No wake/ speed restricted zones along the way, and some open water areas that you can run at cruising speed.

Beyond that, the ICW in most spots in very narrow and shallow outside the channel and your back in the marsh creek, so navigation needs to be very precise. Miss a turn and you'll be hard aground quick.

I would expect you'll be at no wake more than at cruise for planning.
 
Can this be done at a cruising speed of twenty knots. .?.

This is the i95 on the water, which gets somewhat busy during "migration seasons" (spring and fall). Thousands of boaters use it for their delivery trips between FL and VA. You have plenty of open sections allowing normal cruising speed. Then you'll have more congested areas slowing you down, where you have no wake zones, bridges, slow moving vessels (make sure to use slow pass etiquette when passing them), etc.

Get a waterways cruising guide and you'll have very helpful tips there to get you started. Get familiar with WWG and Active Captain community hazard marks, talking about some trouble shallow spots.

There's quite a bit of homework to do for successful trip. If you don't have the time and need to do this quick, hiring professional captain who does the delivery trips in the area, is another option.
 
There is a person who has posted a huge number of route maps for trouble spots. I think bob23. Or maybe bob123. I think his postings show up on waterway guide.
 
Rusty!!
 

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