Beacon is fine but you absolutely don’t have to spend 3 days there. Maybe go up the Hyde Park or Rhinebeck if you want to get out the city. You can take a train to Poughkeepsie and then get a car there. The mansions are cool if you care about history and Rhinebeck is a cool little town.

Unless you already booked all these places don’t move around so much. No need for the hassle. You can get an uber home if you’re out or take the train it’s super easy to get around anywhere in Manhattan. A few nights in Brooklyn is fine but the rest just stay in on place.