Have you looked at the signed PA bike routes? Not the best in some places, but not bad in others. U.S. 11 in the Scranton area would be miserable riding, IMO. Look at Google Maps Street View. Probably in some other places, too.

As for finding campgrounds, you can search Google Maps for "Campgrounds near [insert name of town]". Zoom out if you get no results in the immediate vicinity of the town you chose.