Suggest you try for a Thursday, post dinner departure.
Go above NYC and take Tappanzee Bridge then North to 84 east.
I agree with the above recommendation on when to leave - But I would look at travelling up 287 instead of 95 - you will make better time on a weekend.
Sorry!! I had it in my mind you were going to Newtown CT.
Again use waze for trafficking monitoring and convenience of above depending on time of day
THANKS for the help and suggestions!