[interestingstuff]

I'm sure theres plenty to see in NJ, that being said I might suggest you go up to Route 80 and take that west to PA.

I don't know if there are any visitors centers or rest stops with brochures/info anywhere around there... but you should be able to see the scenery you want on that route, as well as drop into somewhere in PA for perhaps taking a day trip (or even overnight camping, although you'd probably need a tent + other supplies) canoeing down the delaware. (You can find plenty of information sites online, too.)

Short naps at rest stops shouldn't be a problem, but you usually can't sleep overnight at them. I would suggest perhaps investing in a small tent and quality sleeping bag, etc. and stopping at an actual campground overnight if you don't want to stay 'indoors'. It shouldn't cost too much. Worst comes to worse you could probably stop at and sleep overnight at a wal-mart parking lot since they usually allow overnight RVers.

I'm sure you can find other interesting things to stop at once you decide on an end-point (or at least a central point) along the route... you could easily plug in "thingimlookingfor placelocation" into a websearch and find a few.