If you want a more scenic route and don't mind smaller two-lane roads and going through small towns, you can take 95N to 295N (right after the Delaware Memorial Bridge).
295N to Route 31 North (used to be Exit 4, but something new now - 274, maybe?)
Route 31 N to Route 46 West.
Route 46 W to Route 94 North
Route 94 N to Route 206N
We drove our Class C to north of Blairstown this summer (Route 94).
I don't know the height of your coach so I don't want to assume about clearances. We are 12' 6" and did it without issue. Plenty of trucks on these roads (Rts 46, 94, and 206) since they are the bigger roads in Warren and Sussex counties.
Here's a truck map from the NJ Dept of Transportation:
https://www.state.nj.us/transportati...getruckmap.pdf
Hope this helps. Safe travels and enjoy your trip!!