Chris, DON'T jump into your friends truck thinking it is easy to save some money by driving to PA and back yourself.
You MUST have a license for whatever you are driving, eg: a CDL A for TT, air brake endorsement and know the laws for each state you intend to operate. You will be in the 5 MPG club if all goes well, insurance, bad luck factor, Murphy's Law recipient,
.........R U sure you know more than the guys who do this every day, for a living.
This certainly isn't a challenge to your ability, just an observation after 37 years of deliveries with ZERO hassles from the PA truckers I've used. Over 90 TT loads, not one issue for the trucker or their cargo. I like those odds, too.