Let me try to pin it down a bit:
1st day to C&D canal and marina.
2nd day LONG day...up at dawn and down to Cape May marina.
3rd day Atlantic City...Trumps Expensive Marina
4th day Manaquan Inlet Marina
5th Day Sandy Hook Marina
6th day Arrive Hudson River...maybe Haverstraw Marina.
Given a weeks worth of travel on a small boat, I'd allow two weeks for the trip and maybe a bit more.
Suggest WATERWAY GUIDE NORTHERN EDITION for good info on harbors and marinas and the Maptech Chartkits for navigaiton.