There is a setting in Trail Router to "Avoid Potentially Unsafe Roads" which makes it much more conservative about road choices.
It uses OSM data for routing information, but this is quite poor for pedestrian safety (particularly in the US it seems, where some 'secondary' roads are very safe, and others are death traps). There are specific tags for foot access and sidewalks, but they are rarely used outside of cities. Crossing the I-95 should only be done if there's a bridge going over it, it should never take you across the lanes of traffic (!). If it does, please do email me a link to the route if you don't mind.
The Triborough bridge had a pedestrian walkway; I've never made it across because the rail is below my center of mass, and nope.