I make that trip every yr for the last 20 years. This the route I go: 95-495-90-84-81 (Jonestown KOA 1 mile off 81) 81-77 (Charlotte KOA 1 mile off 77) 77-26-95 (St. Augustine Beach KOA 14 miles off 95) then onto wherever... This route is 100 miles longer, but way shorter timewise and no tolls, except I90 and Newburgh bridge (eastbound) over the Hudson. I just got back on Monday, was a good ride. as good as any of the northeast roads this time of the year.
I like the KOA Journey campgrounds, because they are set up so you don't have to disconnect and are open year round. They even have prepared food so you don't have to cook either. And the price is good too...