Since you are asking the question, I guess that you aren't staying at Bentsen Palm Village or Retama in Mission. There is plenty of both of those activities there. The Bentsen Rio Grande Valley State Park no longer allows vehicles or camping in the park so the interior roads and the former campground circle make good paved bicycling. You can take kayaks into the Resaca in the park but you have to carry them in (NO FUN).
I would highly recommend going east in Erie Pennsylvania on 86/17 which is called the Southerntier Expressway, and going to 390, then going north to Rochester. You will see much beautiful scenery!! Also...exit 7 on 390 will put you about 3 miles from Letchworth State Park which was voted best in the nation in 2015 Letchworth also known as the Grand Canyon of the East. I live very close to Letchworth and would highly recommend visiting. Good Luck!! .............Rick
I agree with Rick's recommendation but for another reason. We just drove the New York Thruway part from PA stateline to Buffalo and turned over $15.90 in tolls for our RV and toad. In spite of the toll the road was in poor condition especially the area through the Indian reservation.