We used to use the Garden State Pky to get from the Tpk to the NY Thruway (87/287) to go across the Tappan Zee bridge (EDIT excuse me! I meant, of course, the
Mario Cuomo Bridge!

). A neighbor of ours in MA strongly recommended switching to the Palisades Pkwy, and it cut 1/2 hour off of our trip from MD to MA (or, now, NH). The only problem with the Palisades Pkwy is that the constabulary (two states' worth) is a common presence and takes the 55 (used to be 50) mph speed limit rather seriously.
EDIT: Irrelevant, whiny aside.

We've been doing what I call the "Mid-Atlantic Slog" for well over 40 years!

Mrs. H and I met at Hopkins, but her parents had retired to NH, so she, and later we, would
schlepp back and forth several times a year. Later, we moved to MA, but
both of our kids went to college in the DC/MD area. More
schlepping. Now, we and our daughter and her family all live in NH... but our son, his wife, and their cats live in NoVA. MORE
schlepping. Fated to do it for life, methinks.