Good for hiking if you're interested in that. Gertrude's Nose trail has a beautiful overlook of the fall foliage.
Another fun hike with waterfall views.
Sunday Farmer's Market
Really good farm-to-table restaurant Kari and I ate at before. A 40 min drive from Kingston and you would need to get a reservation.
South of Kingston on the way back to NYC. Lots of cute shops on the strip.