Dickinson Hill Fire Tower
I've been to Dickinson Hill Fire Tower near Grafton State Park twice recently after work. It's a nice place to go to watch the sunset, look at the changing leaves, and get a 360 degree view of Rensselaer county and the surrounding area. You can even see the Bennington Battle Monument from the top!
I've been parking on Fire Tower Road which makes it a quick few minute walk up the hill to the tower, but it's also possible to do a ~1 mi each way hike / ski from North Long Pond Road in Grafton State Park. I'll have to try that sometime! Ariana went with me the second time that I visited, I'm sure she appreciated the views.