Eastham Massachuetts to Hershey PA - route help!

If I were making that trip, I'd probably do K Charles's route, or else I-95 to I-287 to I-78. I-95 through Connecticut can have a fair bit of traffic but it's doable with an RV. (On the other hand, going through Hartford, CT and Scranton / Wilkes-Barre PA is also not always the most fun driving.)

Do be certain to avoid the Connecticut (and New York) parkways which are as a rule restricted to automobiles, with good reason.