I can't help with the bar question.
But when we go to Yankees Stadium, I always park in one of the private lots on River Ave. and walk to the stadium. I avoid the stadium garages, because they take a lifetime to get out of.
Then, after the game, when you leave the lots on River Ave., you can drive up River and follow the signs to the GW Bridge (I-95). Then take I-95 to I-78 WB that will take you to Pennsylvania.