In case you are not aware, and in case you don't mind associating with VCOA, they do a Covered Bridge Tour every year after Carlisle, Sunday afternoon. It's already organized and I suspect they would left you join. Details from their web site:
"Meet at the Comfort Inn at PA Turnpike Exit # 286 (Rts 222 and 272) 60 miles east of Carlisle; GPS N40? 13' 21.3" W 76? 5' 53.9"
No Registration ? No Fee
Just show up at 11:30 AM in a Volvo for a leisurely 58 mile tour through 9 Lancaster County Historic Covered Bridges nestled in Amish farmland. Lunch stop about 2PM; tour ends about 4:15 in Strasburg, PA. Home of the oldest continuing operating steam railroad and the Pennsylvania Railroad Museum."