This 2013 photo shows the southbound FDR Drive at EXIT 24 (I-95 / Cross Bronx Expressway / George Washington Bridge). (Photo by David Golub, www.greaternyroads.info.)
PASSENGER CARS ONLY MAXIMUM HEIGHT 7'10"
SOUTHBOUND: scroll down NORTHBOUND: scroll up
Milepost data provided from south to north (reverse direction).
Additional source information provided by Wikipedia.