I've used it many times when I was commuting for a couple of weeks a year between Brooklyn and Phila. That route plus the Tacony Palmyra Bridge saved me a bit of money.
Exit 57 on 295 connects to exit 7 on the NJT at Bordentown via US 130 and US 206. It probably adds 10 - 15 min to the trip over the turnpike. IMHO, the Exit 5 interchange was the faster and easier.

Another alternative: I-95 now connects directly to the PA Turnpike at (double check me) Exit 40. This takes you over the Delaware River and connects you to the NJT at exit 6. I haven't timed this route vs the Turnpike vs 295 so YMMV