There's a spot in Jersey City not too far from the NJ Pike,
Libery Harbor RV Park, exit 14 off of the turnpike, take I-78 east. Beautiful views on NYC and a lot of folks use it as a camping spot to visit the city since there is a scheduled passenger ferry that runs across the Hudson.
If you're coming up 95, skip 287 and stay on 95, then take 95 across the George Washington Bridge then you pick up 87 NY Thruway right after you cross the Hudson, so you'll miss a lot of the traffic on the Cross Bronx (95N). Then 87N to 287 to 684 to 84 to Hartford.
