However, bear in mind that very few New Yorkers have cars, so, in reality, the person would probably NOT drive there, they would almost certainly take public transportation, buses and trains, so the second link, below is a map of how to do it that way!...
Take Routes 1 _ 9 South (Pulaski Skyway) for 5 miles to the _Newark and the Oranges_ exit.
Views along the way, before Newark: parts of Jersey City, freight yards, PATH train yard, huge postal distribution center in Kearny, either the Passaic or Hackensack River, Newark skyline, including the Prudential building (I think it_s the tallest building).
Any number of routes.
From lower Manhattan there are the Lincoln _ Holland tunnels... no views until you reach NJ highways ...mostly flatland on NJ turnpike ,some views of Manhattan, parts of the Meadowlands _ Newark airport
There is the George washington bridge at the north end....longer route
West Side Highway follows the Hudson river .
NJ is visible all the way .
If taken from the lower end the W. Side hwy has views of the NY Piers, west side high rise apts ( Trump Towers) upper west side , riverside park .parts of Harlem _ NJ Palisades..
Once across the Hudson into Ft. Lee , NJ local Hwys to NJTP south into Newark area.
Tunnel routes are shorter _ less scenic.
Either route can take an hour or more depending on time of day.
Best regards
On a good day, the Newark Airport might be only 10-15 minutes away once you get out of the Lincoln Tunnel. But going through downtown Newark can be bad, and driving through Manhattan, especially through the tunnel, can be really bad.
A half hour to 45 minutes might be a save guesstimate from Manhattan. More from Brooklyn or Queens.