Taking 287 / Tappanzee, it is simple to get back to I95. Go up Garden State Parkway and get onto 287... stay on it until you get to I95. Tappanzee is basically a brand new bridge, pretty cool looking. There is still one of those Massive barge cranes parked next to it.
Some people can find traveling 287 a little confusing - a lot of sections are "combined" with other routes, just follow 287 and you will be fine.
You may already know this, but careful with "parkways" in New England! Garden State Parkway is okay to tow on, but most are not open to trailers. Some people tow campers on them, but... that is your call.
Have you timed your route? It may be worth just going over the GWB even with the toll cost. I have no idea about when to avoid the worst traffic.
Speaking of traffic - traffic for me over the last year going over the Tappanzee at various times has been remarkably "good". Sure traffic is there, but moving well. Maybe the new bridge is working!
Speaking of traffic and Connecticut... you will hit traffic at the border in Greenwich, and it will not let up until you hit the opposite border with Rhode Island. Wish I could give you better news. Avoiding traffic by trying to travel at odd hours is a **** shoot. Rest stops coming from New York: First one is around exit 12 (don't get concerned - the southbound rest stop on opposite side is around exit 8... just keep going). The exit 12 rest stop can be Crowded! All the people with full bladders from getting through New York stop there, lol. You might want to push on to the next rest stop if you can. There are 4 more rest stops up to Madison, really spaced only a few miles apart, then pretty much nothing until Rhode Island.
Out of curiosity, where are you staying in Connecticut?