Dickinson Hill Fire Tower
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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!
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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.