The sentence that requires semicolons instead of commas is:
"This summer, we are going on a road trip to Philadelphia, Pennsylvania, Baltimore, Maryland, and Rehoboth Beach, Delaware."
In this sentence, semicolons are needed to separate the items in a list that already contain commas, making it clear where each location begins and ends. The corrected version would look like this:
"This summer, we are going on a road trip to Philadelphia, Pennsylvania; Baltimore, Maryland; and Rehoboth Beach, Delaware."