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Trust me friend, rental is the way to go in NYC. No cab, livery service, Taxi or Uber will be cheaper. You will have a nice drive to the peekskills and no doubt will hit some sort of traffic being it's 4th of July weekend and it's NY so traffic is everywhere.
I am in Queens and not too familiar with NY state so it's all I am able to offer in terms of advice.
Jesse
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