I took this drive yesterday:
I started on the Palisades Parkway, took a detour into Harriman State Park, then went on to Bear Mountain. Then I kept going North on Rt 9 until I reached Newburgh, then turned around.
I think you are right about taking Rt 9 all the way up may be more scenic. I may try that next time.
2008 BMW 535i Space Gray, Black Leather, Dark Bamboo Trim| Sport Automatic with Paddles | Sport Package
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