One benefit of Manhattan life, and the situation of the island, is that within the hour, one can transition to a relatively non-urban setting. A close and easy means of achieving this is to hop over the George-Washington Bridge, via the south-facing foot and bike path, and head north on the west side of the Hudson River through the Palisades.
The Palisades Interstate Park in New Jersey includes a cumulatively fat mileage of trails primarily running north-south, but including intriguing (and often steep) linking paths that take you east-west between the clifftops and the river’s shore.
Hence, you can create your own custom loop to and from the bridge entrance depending on how far you want to walk and how much climbing your pins do or don’t fancy. We recently did the very same, heading north along the tops and looping to the river and back, utilizing the Long, Shore and Carpenter’s Trails. Waterfalls (audio below), landslips, interesting building remnants, ornamental gardens, circling raptors, etc. abound.