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From the Rainbow bridge just follow the truck routes to the expressways. In NY a Parkway generally means some low clearances, thus commerical traffic is not allowed. I don't recall if the RM Pkwy has any low clearances. The NYS DOT webpage does not list any low clearances on that Parkway. A call to the Buffalo area NYS police will clearly answer that.
I believe I can get over bridge, but not on pkwy. I'm from Long Island, am familiar with roads built by Moses. The reason I asked. Will go over 190 bridge I believe the Queenstown Bridge. 190 to I90.
We had no problem taking our 11'6 MH on the Robert Moses Parkway to the Four Mile Creek State Park. There were no height issues or RV restrictions. We drove right past the Lewiston-Queenston bridge entrance.