There are 5 CG that are pretty easy to get to off I-87 (Northway) in the Lake George area which is about an hours drive north of Albany.
1. Lake George RV Park
2. Ledgeview RV Park
3. MooseHillock
4. Lake George Escape (Warrensburg)
5. Another CG in Warrensburg in very close proximity to #4.
Cannot comment on requirements for #'s 1,2,4, 5, but #3 wants 3-4 nite requirement for advance reservations. All 5 will pretty much $100/nite on weekends. Don't know about weekdays. #'s 1,3,4 are kid friendly. #'s 1,2 sites are pretty close to each other and #1 has paved roads, #2 nestled in trees. #3 is our favorite, stone roads/sites but H-U-G-E! #4 I think sites are common width, trees, couple pools (IMO best kid friendly). #5 which name I don't know anything about, but along w/ #4 is a few miles past LG and the crowds. #'s 1,2,3 are same exit which can take several minutes to get thru traffic. #'s 4,5 same exit as well (good hill you have to pull between exits).
There is a CG at NY/MA line,off 90, but someone else will have to elaborate on that one.