Agree with others, 1) get an exact height, 2) avoid I-95 as much as possible. If you come in to PA via Rt. 15 through Gettysburg I would stay on 15 then pick up Rt. 581 to get to I-83 north then to I-81 north (although there may be construction above the I-81-I-78 split) and from there get to I-84 (the construction on I-84 bridges just above Milford PA is finished).
Rt. 209 through the Delaware Water Gap is a nice drive if you're not in a hurry, however to get there you'd have to take Rt. 22 east through Allentown & Bethlehem OR I-78 to Rt. 33 north to Rt. 209 north. Rt. 22 is more direct but will have heavy traffic all day and it slows to a crawl at rush hour. I-78 is better but has heavy truck traffic and has seen more than it's fair share of accidents the past few months.
Safe travels, no matter what route you choose.