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There are obvious tourist places (I love them don't get me wrong), then there are mom & pop bakeries, small business hand-made gift shops, unique coffee shops, off-beat architectural stuff, unique ice cream places, hidden parks etc to see with families.
Some (maybe) lesser known spots of interest off the top of my head:
For the views: The Roosevelt Island tram, free ferry to Governors Island
For the arts: Hispanic Society Museum, Washington Heights
For people watching: strolling St Marks Pl., East Village (obviously warm weather is best)
Some (maybe) lesser known spots of interest off the top of my head:
For the views: The Roosevelt Island tram, free ferry to Governors Island
To add to the Roosevelt Island tram, there is also a nice viewpoint at the southern tip of island itself as well as a nice promenade along much of the west side of the island.
Separately I like the Brooklyn Heights promenade (for the view) and the nearby Montague Street for its quaint buildings and restaurants (with outdoor seating in the warm weather months).
A newer place for good views of the eastern side of Manhattan is the Long Island City promenade.
Fort Wadsworth and the lovely adjacent Von Briesen Park. Bring your camera. Great views. In the summer goats roam the top of the fort keeping the grass trimmed.
Conference House in Tottenville. Take the train from the ferry.
Downtown SI -- the museum, the library and Borough Hall (great murals.)
I agree Historic Richmond Town should be visited at least once.
Another place to visit on Staten Island is the Snug Harbor Cultural Center and in particular the Chinese Scholar Garden (supposedly the best one in the USA).
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