I took my "new to us" 2011 Tiffin to Ft Ticonderoga from the albany area a few weeks ago. I trusted my GPS when it told me to get off 87 onto rte 8. Yikes, what a scary road that and rte 9n is at night in a new RV! Twists and turns, ups and downs. It might have been nice suring the day though.
vermont & Rte 7 does not restrict truck traffic. They do ask that trucks do not use their jake brakes in towns though.