We highly recommend making a reservation for weekend visits. It's worth it - https://parks.ny.gov/parks/samspoint
Great place to go on hikes, fantastic views. A range of routes from very easy, but still beautiful, to more challenging.
Sprawling hiking area
Great little restaurant/bar with backyard right in Mountaindale. Excellent pizzas.
Classic german-style beerhall looking up at the Shawangunk Mountains. Great sausage, pretzels, excellent beer, old-school vibes. Make a reservation for lunch, it can fill up.
chicken wings here are next level. get the dry rub. lordy.