I used map quest and it led me to the George Wash Bridge... I want to avoid that
Bridge and go from the NYS Thruway to the NJ Turnpike to the Pa Turnpike
I'm terrible at maps... is there a direct way to do this?

I'm starting near the Kingston Bridge... I can get to the NYST from where I
live

You can cross the Hudson either at Newburgh (on Rt 84) or the Tappan Zee bridge, over to the NY Thruway south to Rt 287 south, to the NJ Tpk south. It gets a bit complicated around Treton to get across to the PA Tpk, but I'm sure Mapquest can sort that out for you.

Googlemaps! MILLIONS times better