Don't know if you've left yet on your trip...
We cross the Tappan Zee a couple of times a year in a 36' towing a car. I'm not a big fan of driving on bridges, but this one doesn't bother me at all. Traffic might be heavy depending on time of day, but it's not outrageous. (As noted, the toll is. It's $24.75.)
The worst part of that route is that I-287 is now in about the 11th year of a construction project. Also, when you cross the bridge, you need to be in the LEFT 3 lanes two or three miles down the road, as 287 and 87 split.
And when you come to I-95 in Connecticut, good luck. It's a nasty highway, not even close to being able to handle all the traffic on it. It once took us 4 hours to travel the 120 miles of Conn I-95, by car, no less. You might want to consider I-84 to I-90 to I-495 to I-95 at MA/NH border.