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RV Trip wih 2 kids & 2 dogs from Florida to New York, need suggestions?

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We are going to be traveling by RV from Florida to New York this summer and will have 2 kids (12 & 10) and 2 dogs. We have all traveled before in an RV and it was the best vacation ever! Our dogs are part of our family and we can not leave them behind for 2 weeks so we take them with :) I have been researching RV campgrounds around New York City, since we do want to see the city for the 1st time, but have read conflicting stories about whether there are any SAFE campgrounds with in public transportation to the city. Any help would be appreciated. We have 7 full days available? Do we need all 7 to see New York City or is there other places you would recommend? We are open to all suggestions. Thanks for you help in advance!

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