I-76 through all of PA is a toll road.. So, if you want to jump on and off, the closest options are:
1. Gifford Pinchot State Park outside of Harrisburg. You'd take the exit onto I-83 for that. They have a short Boulder Woods course, and a very tough Quaker's Challenge course.
2. Roland Park in Akron, PA. You'd take the Denver exit off of I-76. I can't seem to track down the exit number. It's a 27 hole course, I believe 11 or 12 open holes that traverse around a heart shaped pond, and 15 in the woods. Either two sets of tees or one tee/two baskets. Only focus on the more recent reviews, as they have done a lot of re-design/course maintenance lately to make it a top notch course. It used to be a navigation/schule nightmare. PRINT A MAP, as they do not always have next tee signs and/or there are multiple options.
I'd say both are no more than a 20 minute drive off of I-76.
If you do not want to jump off of I-76, when you get to Philly, what most claim is the 2nd oldest course in the world is housed at Sedgley Woods in East Fairmount Park. It's near the zoo. But, make sure you don't go in the wrong neighborhood. It gets sketchy. 27 holes, 3 sets of tees, HISTORY! And, a very friendly vibe going on around there.