The only place I've found in that area is way up into Jersey City, that's maybe a but too far from where you want to be.
I did find some listings for camps out toward the west off RT-22. But I haven't verified them yet.
If Jersey City works for you, it's the Liberty Harbor Marina/camp ground. Its not like the campgrounds you may be used to, as its more of just a parking area. The advantage is its close to all the attractions you would want the visit in that area, and your coach is safe, being guarded 24/7 while you're out and about.
Dan & Loretta, US Army Retired Aero Scout Pilot
2012 Fleetwood Providence 42P Class A/DP
Spartan Chassis, 8.9L Cummins 450HP