How could I find directions to places without taking highways?

I live in New Jersey. Whenever I have to go somewhere to Pennsylvania or another far part of jersey, the maps on my iPhone tell me to go on a highway. I can't go on the turnpike or a highway, i have a fear of them. Is there a way I could make it tell me how to get there by taking back roads? No sarcastic or fake answers

Get a road map from AAA

Use Google maps. When it shows you the route, there's a link for Route Options. Click on that and then you will see checkboxes to avoid highways.

Forget your i-phone maps. Get a REAL map, and work out your route on that. Then write it down in large letters on a piece of paper, and place it on the passenger seat beside you.
For example:

Take B335 to Newtown.
At Newtown turn right onto C332.
Five miles later turn left onto C757.
and so on.

I've driven all over the UK that way.

Buy a paper map you mong