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I would take I-684 to Katonah, get off on Route 35 West. Follow Route 35 West across the Amawalk Reservoir to a right turn on Route 132 before you get to Yorktown. Follow Route 132 (Old Yorktown Road) to Shrub Oak, bear right to stay on 132 which becomes Barger St. Then, head east on Route 6 to Jefferson Valley. This route should take about 25-30 minutes. There is a shorter route, but Mahopac Avenue is a a little more tricky in places with curves than Route 132, which might not be the easiest to navigate with a rental truck.
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