Maybe if it was raining, freezing cold or broiling hot, but $15 to go 1 1/2 miles? I'd rather walk off the calories of a nice dinner I'd rather spend that on when I get home instead.
Sure - I've done a fair deal of walking if there were no other options. But on some trips I just used public transportation, although it might have been to be able to access it for an all-day or weekly price. My main worry would be the safety of a particular area, and some places I've been to have been somewhat sketchy.
Well good luck with it and be safe. I haven't really dealt with a rental car customer pickup and/or dropoff in about 20 years. I did it when my car was being repaired at a body shop and the insurer paid for it. I understand that it's generally based on availability of personnel, and they typically do it with a car in the rental inventory, which won't necessarily be the same car being rented. But it was fine - I think one of the more junior employees there - a part timer who said she was a college student.
I guess if you're tired you might map out available rest areas. I read somewhere that it's a four hour maximum in North Carolina and no specific limit in Virginia.