I think we normally take the GW bridge over and the parkway near the Hudson is right there on the other side. I forgot the name of the road. Is it the Henry Hudson highway? It isn't too bad until you get close to the ship and if you arrive early than that is even better.
I believe you can see the ship from the GW bridge or you will see it very quickly after getting on the parkway. The street numbers along the parkway should be getting smaller not larger.
But I take the 87 thu-way. You might be on the Taconic?