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Gary,
Did the trip in a smaller boat a number of years ago, all the way up to Albany. Not much there back then, so we stayed one night and turned around back south. West Point and Bear Mountain Bridge are two favorite areas, and very scenic. North of there is a lot of river and trees unless you're passing cities. Plenty of commercial traffic so shouldn't have a problem in a 100 footer (just watch out for the mud flats). There was a marina, I think called Half Moon Bay, by Cold Spring, almost across from Havestraw. Check with them to see if you can pull in for an overnighter. There are areas (or were areas) you could anchor out if you like. Planning a fall foliage trip? Take some pics for us southerners (forgot what a fall maple leaf looks like).
Capt Tom
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