The other recommendation I often make if you want to end up in lower Manhattan, the village, SOHO, or Brooklyn, is to take the Pulaski Skyway (US 1) to the Holland Tunnel rather than I-78/NJTP Newark Bay Extension.

Not only is it free, it often has less traffic, no trucks allowed, and quicker merging at the tunnel.  The Pulaski is also a cool 1930s era highway project and there are some cool views of the skyline from the road.  But those are best for the passenger, since there are only two very narrow lanes on the elevated highway, and exits/entrances from the road are in the middle.