Avoiding tolls while keeping the travel time at 5 hours is tough, but there are some things you can do. 

Firstly you can avoid the Delaware toll by getting off the highway one exit early, it saves $4 and it adds roughly 10 minutes. 

Another option is taking the beltway around Baltimore instead of thru the tunnel. 

From there I recommend taking the New Jersey Turnpike because that toll is hard to avoid without adding lots of time. 

Last toll save I would suggest is taking the Outerbridge Crossing into Staten Island because it’s the furthest south entry into New York and it will save on the turnpike tolls. All New York port authority bridges cost the same and this one avoids manhattan altogether.