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Piscataway is a rather large town, so you may want to specify a little more closely what part you're trying to get to.
Generally speaking, 18 is slow, Centennial is slow past all the strip malls, the 287 interchange on Stelton over by Hadley is a real mess, and Washington can be a bit slow getting to town. That said, relative to the sorts of traffic seen in most other parts of NNJ, it's not bad at all.
I'd agree with the I-78/US-22 recommendation over the GSP -> 287 route for sure. I'd anticipate your biggest traffic issues will be that 24 is a mess and you'll lose a couple minutes coming down into the Watchung Circle from Exit 40 in the mornings. For 22, it'll be just the general variability of that road with the lights, shopping, etc.
Thanks! How long do you imagine the drive will take at rush hour?
There are many roads to approach from Piscataway to Millburn. Check out Google maps during rush hours for a week or so, and then take an average.
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