Simple answer...NO. Nothing that is legal. Welcome to the land of "NO York" and "NO Jersey".
Private land only. Well, southern Jersey has a few legal, public opportunities but nothing I don't think within 1.5hrs from NYC. PA has Rausch Creek, 3-4hrs away.
Your best bet is to hook up with a club. Clubs put the work in with landowners and work with them to develop trails on private property.
There is an event on some private property coming up in May. It's 2.5 to 3 hrs from NYC up in the western Catskills, google "Tar Hollow 4WD Expedition". It's 2.5 days of camping and trail riding on private property. Sponsored by NJJA and OK4WD shop in NJ.
Pre-registration is required. I believe there are still spots open. Trials range from mild to "hero" loops. Everything from stock to heavily modified.
Good luck to you otherwise. We live in the worst state, in the worst part of the state to boot...lol