OK Ed,
First, Do Not Take I-95. That leads you into NYC and though you may be experienced at driving in Megopolis, it is not a place for anything but a disposable passenger car. Cross the Hudson to the north, where does not matter.
If you want fall colors, stay inland.
If you want quaint New England, take Rt-1.
This is your first time with this particular RV, do an night close to home. A Walmart lot will do.
This is your first time in an RV ever, then do the first night in the drive way. You will be surprised the things you will learn fast.
I don't know how you plan to navigate the east Megopolis, but you will get into wrong places. Just grin and say - OOps.
Matt - Grew up in the east.