My recommendation, and I live in the area, would be 'black bear campground' in the town of Florida, NY. Ive stayed there myself several times, its scenic, full hookups, pet friendly, and Florida is a beautiful small town. A lot of people would recommend the KOA in Newburgh, (but it's actually in the village of Plattekill) but its a KOA.... tight spots. Hands down, BLACK BEAR!!! . https://blackbearcampground.com/
Prior post said all the sites to visit, of course West Point is West Point, and all the tons of revolutionary war stuff. A scenic drive I would recommend, would be to take route 218 from Washington Gate at the base to Cornwall, (Gen. Petraus (sp) hometown) but ONLY if you have a toad. Its twisty, windy, and tight, but incredible. No way can you do that with a trailer. If its closed, sometime it is, and its closed in the winter, take 9W north from West Point, all the way up to Cornwall, and turn around and go back, or continue up 9W to the walking bridge over the hudson up in Poughkeepsie. ....they both, 218 and 9W, run along the Hudson, and the views are awesome.