Yes, you would be crossing into Haryana at Sonepat, Punjab after Ambala, again Haryana after Zirakhpur and then into Himachal at Parwanoo.
With online tax payment available at Checkpost ~1~85
, paying taxes is not a challenge anymore.
Now that you would be crossing into Haryana from Delhi, it is important to note that Delhi - Haryana road border is closed by protesting, so called, farmers and it is a challenge itself to cross this stretch. Be prepared to keep atleast 1-1.5 hours extra for this particular stretch considering you would be crossing into day time.