I’ve done a similar trip before — a good place to stop is around Albany, NY. It’s about 2.5–3 hours out of NYC, so you can get a decent night’s rest without pushing too far. Plenty of hotels right off the highway.
For Shacharis with a minyan, check out Beth Abraham-Jacob or Chabad of Albany — both are solid options and pretty welcoming. Made my trip much smoother when I did it. Safe travels and gut Yom Tov!