Take a look at the route using the New York Thruway/I-87North. And then connect with the Mass. Pike which intersects just south of Albany.
It is an easy ride with no multi lanes coming in from all directions. The Mass Pike heads west towards Boston and you can travel north from this point. The NY Thruway (I-87) is a direct north route AND is MUCH less stressful than zigging & zagging around NYC and into Connecticut on I-95. Be aware this route does add more miles to the trio.
We live in the southern part of NY & travel I-87 frequently. We also are going to Bar Harbor in July-FMCA trip. Safe travels.
