I absolutely agree with eshenderson avoid I-95 thru NYC at all costs, its a nightmare in just a car! We pulled up to CT earlier this year and went 87 up to Tappan Zee bridge and it was no trouble. Just make sure you stay on major roads, and it would be very wise to download a list of low clearance roads in the states you will travel, the north east is slam full of them. If you happen to have to detour you'll want that info. Unless you own an RV GPS which would keep you away from those.
2011 Rockwood Mini Lite 2304
2004 GMC Savana 2500
2013 Days Camped, since April: 33