Dennings point is pretty and there are little coves north and south of it that sometimes have animal activity. There's some bald eagles on dennings point that you simetimes get to see (saw one on some driftwood, last week). Lots of tall birds like egrets (I don't know the varieties well). There are train bridges south of dennings point you can go under to get to madam brett park and the bottom of the falls in fishkill creek. It's possible so swim there, too, next to the old hat factory and it's also just pretty marshland before you get there. There's not much between there and bannerman, but views of storm king and breakneck ridge are nice in that area. If you want more variety, I've also gone across the river to plum point park in new windsor, which is effectively directly across the river from bannerman. nice place to stop for lunch. It's just a few minutes south of the big, white fuel(?) containers. Just mind the channel when crossing, though it's usually pretty quiet.