I was just through that area on my way up to Laconia a week or so ago. I traveled up 209 from Stroudsburg, PA to Kingston, NY. It travels along the PA/NJ border through the Delaware Water Gap Natl Rec Area in Pa and then past Port Jervis NY where you cross I-84. We particularly enjoyed the portion in southern NY from Port Jervis to Kingston - several small towns to go through but we really didn't seem to have to "stop" much for any lights or stop signs. When we left Kingston, we headed east across the Hudson on 199 towards the Taconic State Park and 22. This route had good roads, several beautiful large horse farms and nice "foothills" scenery. We headed north on 22 somewhere near Millerton. 22 was also nice road and great scenery most of the way. We did hit a patch of very rough road on 22 for about 20 miles or so but I think it was after you cross I-90 (not sure how far north you may go).
Good luck - hope you have a good trip!