I IT would help to know what type rv you will be making this trip with. But make no mistake, this is an area not for the faint of heart, even on a sunday. With that said, remember you cannot use any roadways marked as "parkways", only use "expressways". So my suggestion is, LIE to the THROGS NECK BRIDGE! to the cross Bronx expressway to GW bridge to the NJ Turnpike then follow signs to Liberty state park. Can't help with tolls without knowing the unit. These are my suggested route, but I am sure 10 or more others will have their own. I drove TT in that area for more years then I care to remember. Good Luck and have a safe trip.