From New Jersey, you have one bridge into Manhattan: the George Washington. During rush hour it is very slow.
From New Jersey, you also have two tunnels into Manhattan: the Lincoln and the Holland. During rush hour they are very slow.
From Brooklyn, you have one tunnel and three bridges into Manhattan. While slow, they are a bit better on average than the bridges and tunnels from New Jersey.
From Queens, you have two bridges and one tunnel into Manhattan. Again slow, although on average a bit better than from New Jersey.
From the Bronx, you have a number of small bridges i(I believe 8 in number) into Manhattan. They are a bit better on average.