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, the cities and states are paired together, which can lead to confusion. Using semicolons would clarify the separation of these pairs:
"This summer, we are going on a road trip to Philadelphia, Pennsylvania; Baltimore, Maryland; and Rehoboth Beach, Delaware."