I stopped at Lynhurst to stretch my legs and get our of the car after a long drive. While there is an option to take a guided tour of the inside of the mansion, I opted for just the $5 fee to access the grounds. I spent about an hour walking around the mansion and down to the waterfront, which had great views of the Hudson River and then back up to the rose garden. Grounds are well kept. There is access to bathrooms at the visitors center (another perk when on a road trip). I saw a couple of dogs, children riding their bikes, and I even saw a family eating a picnic lunch down near the water, so you must be able to do whatever.
The mansion also host themed tours so go check out the website.
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