With lunch and a long route back it was near 10 hours, but you could easily make it round trip in 7 or 8 with lunch and stops. We took 209 instead of the thruway both there and back and like I said, we hit Saugerties and the falls on 23a on the way back as well which added a good chunk of time.
If you’re looking for something shorter, I’d say cruising down that direction (23a) would be a fun scenic cruise, or like others recommended check out the moto section.