Just my thoughts, but watch the GSP up north, there are some low overpasses.
A couple different suggestions. Get yourself to 287 north, avoiding the GSP. From there you can either:
A. continue on 287 and over the Cuomo bridge to 84 and through Connecticut.
B. Take 287 N to 87N. Now you can either pick up 84 at Newburg NY OR continue straight up 87 until you get to 90 east (Mass Pike).
Why you ask? I've sat through many very long gridlocks in CT, on horrific roads. The longer route is, IMO worth it. Good roads, far less congestion. And I get to my destination much less tired and stressed. Getting out of Jersey City would be the hardest part.
Under no circumstance would I travel through NYC with my RV when there are other options. The toll to cross the GWB alone is mind-numbing.
Happy Trails.