You could also play truck driver, and drive by night. NYC is very pretty from the Jersey side at night. I no longer know the hazmat rules for the tunnels and GW Bridge (the Cross Bronx goes under apartment buildings and propane used to be regulated) so I would cross farther north, or check the rules. Thirty years ago, I made this trip many times leading a truck convoy to do work in NYC up through Maine (even one job in New Brunswick). We always aimed for 9 pm to 4 am. Breakfast at the first truck stops in Conn.
Don't break down on the Cross Bronx, even your RV could be stripped before the tow truck arrives. Just picking on the New Yorkers, wife is a Jersey girl.