I am a new contributor to this forum, sorry I didn't join a few days earlier. I am familiar of all the roads. I generally avoid I-95, except when I'm going to "Liberty Harbor RV park". I would simply take I-95 to I-78 East, (Towards the Holland Tunnel). This is the best way to go, even though it is a little scary getting so close to the tunnel. When you can see the tollbooths in front of you take a right on to Marin Blvd. (Luis Munoz Marin Blvd to be exact). Then, simply follow Marin Blvd all the way to the end. I have been other ways but I found this to be the best.
Note: I had a bad ground on my site at Liberty Harbor; my transfer switch will not engage with a bad ground; no refund was offered and no solution was provided, and no generator was allowed. I had to leave. (with my new A-Frame Camper I would not have had a problem, because there is no transfer switch. Liberty Harbor is probably the best located RV park in the country; so, crappy service or not they will always get full.
Note: Generally, Parkways and the like do not allow Motorhomes. There are exceptions like "The Garden State Parkway". I generally try to stay as far away as possible from city centers, and have not taken the G.S.P. while in my Allegro Bus. I generally would take (southbound to FL) from the Boston Area, I-90, West(Mass Pike) to I-87, South(New York Thruway) to I-287, South(NY-West) to the New Jersey Turnpike. On "The Baltimore–Washington Parkway" (Maryland Route 295), Rvs are allowed, but I have found the exits to be very narrow and would not venture on that parkway again in a Big Rig Diesel Pusher; pulling a small camper, or a class B, B+ or C the Baltimore-Washington should be Okay. I think the G.S.P. is is better than The Baltimore-Washington Parkway.
But, if your are going to be in Jersey City anyway, I would take I-95 and consequently the GWB to I-78 East all the way until just before the Holland Tolls and take a right. Note image provided. Then, stay on Marin Blvd all the way to the end, and you are there.
(I feel, all the exiting and merging going the other way(s) suggested will cause you more stress than simply staying on I-95 to I-78, Traffic, Yes, stress, not to much.)
When returning it is essentially backwards and a lot less scary;(note the retuning blue line). Going west stay on I-78, north or south, I-95.
I do hope your trip was without incident. I also hope someone finds this late post helpful.
