We have "circumnavigated" New York multiple times, but if you think 287 is too much of a detour you won't like my approach either. We just traveled down the East Coast from Atlantic Canada and went around Boston on I-495 to the Mass Pike (I-90) across NY to I-87. South on I-87 to I-84 to I-81. Once you are on I-81 you can decide when you want to cross back over to I-95. One option is to take I-81 all the way to I-64 and return to I-95 south of Richmond VA.
Although this may sound rather circuitous, if you play with it on Google Maps you will discover that the "penalty" you pay in time and distance really isn't all that large. And as someone who has traveled that corridor in a car many, many times the uncertainty of driving times in and around NY is so large that just because a route shows as faster doesn't mean it will be.
And as for tolls, IMHO, tolls are a minor concern compared to the stress and hassle relief provided by staying away from NY.