As GG1 said, not much in that area. Nearest campgrounds are north on the PA side in Bucks County are Colonial Woods and Ringing Rocks.
But if you headed to the Finger Lakes, keep your rig on the PA side. Only safe bridges to NJ for an RV are the I-95 bridge and the Rt. 202 bridge in that area. Be aware on PA roads as Rt. 32 right along the river is narrow. After visiting New Hope, your best bet to go back to I-95, take that South to Rt. 1 and then hop on the PA Turnpike to the NE Extension.
Tom and Katharine
'07 Winnebago Tour 40TD, 400hp Cummins
'17 Winnebago View 24V, '02 R-Vision B+
RVing for 20 years & 200,000+ miles