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Esopus is a residential enclave with a wide variety of homes on larger parcels. People tend to like its leafy rural feel and abundant winding back roads, while being close and convenient to Kingston and New Paltz. The Wallkill River flows through the town, and it also borders the Hudson River. It is home to the Marlboro Mountains. The highest point of them is Hussey Hill. Shaupeneak Ridge is a popular place to hike with rewarding views at the top. This preserved area is maintained by Scenic Hudson, and the John Burroughs Nature Sanctuary.