porthole
Retired
It is a 2.5 hour drive from Lagrangeville....
If that is the Lagrangeville I am thinking of, it is near the Taconic State Parkway, you are not allowed to travel on any NY State Parkway with your truck and trailer (even just your truck is not allowed, any pickup over 5500 pounds empty).
http://www.urbandictionary.com/define.php?term=taconic parkway
http://www.nycroads.com/roads/pkwy_hudson/
I'd suggest you stay on the NY Thruway, I-87 until Newburgh, then cross over. Leaving Larangeville head up to Poughkeepsie and cross back over to I-87.
"If" you had the time, right at that exit are the posers known as Orange County Choppers (you can see it from the highway).
And there is a great motorcycle museum in Newburgh.