Hven't ridden any of it so I won't opine on road conditions, but I am somewhat familiar with the area around Wellsboro and Ansonia. The latter area is home to the "Pennsylvania Grand Canyon." (A real stretch, IMO.) There are state parks on either side of the canyon. The larger one is Leonard Harrison State Park and the other is Colton Point. Both are shown on the Route G map. I spent a night at the former back in 2003 or so. Decent place with an observation deck that offers views of the canyon. You can also make the steep trek down to the base of the canyon, which was carved by Pine Creek. if you find yourself needing inside accomodations, the Colton Point motel on U.S. 6 just west of the center of Ansonia is a friendly, relatively inexpensive place. In that area, U.S. 6 has a good shoulder and usually not much traffic.
Now...While the offical route follows roads, there is an alternative. There is a rail-trail called the Pine Creek Trail that starts in the Ansonia area and runs along the Pine Creek for over 57 miles to Jersey Shore, PA:http://www.visittiogapa.com/railtrail.html
The map shows camping areas along the trail.
Another source for commecial campgrounds is:http://pacamping.com/
There is an interactive map that allows you to view places by area.