Having lived in the area of Milford for years We would take 78 thru Allentown the take 33 north to Route 209 on to rt 80 (209) east then 209 along the Delaware River. This part of 209 is single lane and takes you thru the National Rec area. It is a beautiful ride and gives you a break from the interstates. When you get to Milford go straigth thru the traffic light (rt6) up to rt 84 then east toward Port Jervis New York. It will take you straight to Newburg and no tolls except for the bridge across the Hudson and not the constant commuter traffic. Enjoy your trip
