To be honest, I don't think seeing NYC in an RV is the way to see it . NYC is just not RV friendly.
If it were me......I would find a CG somewhere else and store the camper for a few days. Rent a car for a day, drive to NYC and turn the car in.
Take a hotel for a few days in midtown Manhattan. See what you need to see , rent a car again for the day and drive back to your TC
This is very good advice. We've never worked or lived in NYC, but we have visited the city numerous times (without the camper rig; we have friends in mid-town, with safe guest parking under their condo). I've commuted from Long Island into NYC many times (I had relatives on LI), and driven into the City from the north approach. Parking about ~2 hours out of the City with the rig, and doing a rental there and back, as bob 'n dot suggest is an
excellent idea.