You can get there by Short Line bus or train and then call for a cab. Beware that cabs are not entirely popular in the area, you might have to wait a little bit till one is available. They are in the progress of transitioning from the showroom at the intersection of 17K and 208 to one further east in Newburgh, also off 17K. I have not been down there for a week so I am not sure how much progress has been made or which location to direct you to..sorry! It should be all finished by July...
They have a designated time for autographs (again, don't know if that will change from now till then) and a good selection of bikes to look at. Some merchandise too. Due to the wild popularity of the show they needed more space and who knows what this new showroom is going to offer. The Union Square pizza joint down from the bus stop has some good food if you need some lunch.
If you want to take the train you can get Metro North up to Beacon and then hop a cab. There are a few nice hotels in the area around 17K should you decide to stay.
I grew up in the area (the next street down from their current shop) if you decide to spend more time in the Hudson Valley let me know and I can give you some suggestions.
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