As you can see in the route https://ridewithgps.com/trips/22744028, I rode today from Bear Mountain Bridge to Peekskill. The surface of the road was excellent and there was almost always a usable shoulder, although it was sometimes narrow. The heavy traffic on the 2-lane Route 202 made for a harrowing ride, so I probably won't take this route again. It's certainly not for the faint of heart.