austerlitz ny to promise land pa

That's probably what I'd to, too; NY 22 to NY 23 to I-87 to I-84. Possibly I migh take US209 rather than (much of) I-87, which is a little less distance and less toll but more time.

Hopefully it goes without saying, but the Taconic State Parkway (NY 199) prohibits travel by RVs and thus I presume must be avoided. If by chance you're in a passenger car that would be a nice route to take.