Whatever you do DON"T travel through NYC and be bamboozledd by the Trailer Life(?) article about a Winnebago showing up in the Wall Street area (they had a special permit, LOL).
I pay to get out of here via the Hudson River Bridge(not in an RV) rather than take the toll free road (Cross Bronx Expressway; massive shudder no matter what vehicle you are traveling in) when traveling north or south.
The Tappan Zee is a viable choice to go south or north. It's being rebuilt which causes some traffic slowdown but nothing like the alternatives:).
As well, the GW bridge, is always crowded (both spans) unless you try for odd hours like 3:00 AM which might just be the time that long distance truckers prefer to muscle their way through.
HTH.