As your heading north on 87 from NYC area, you'll need to get off at Exit 24 in Albany to continue of 87 north which is known as the "Northway". If you need fuel before VT, there is a truck stop on the Northway at Exit 16. Only place I'll get fuel when in the area.
Like DrewE said, once you get off the Northway Exit 20 (Rte 9 to 149), it's not a very long stretch, but can be very congested. Try to hit it between 9am and 3pm Mon-Thur. Fri-Sun is a nightmare------will just take a LONG time to get thru same area. Depending on when you'll be on 149, and if you want to "crash" for the night, there are 3 campgrounds along 149. Lake George RV Resort is closest to rt 9 (right side just past crossover walk and going up a short hill). Ledgeview just downa bit past LGRVResort on left. Moose Hillock is down further on right (our favorite--HUGE sites).
As already mentioned, semis use these roads all the time w/o a problem. 22a in VT is very scenic. Enjoy!!
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