Have lived in both places. Monroe back in the late 80s.
Currently in Hopewell Junction.
You couldnt pay me to live in Monroe nowadays. No way. I dont like the Orange County area anymore. It was a great place to live decades ago, but IMHO its really went downhill in the 90s and has continued to get worse, much worse since.
Hopewell Junction is less crowded, and much nicer. The area has some great places to eat nearby. 84 right into Connecticut .. PA is a hour west. 684 is close by which will take you towards the city. Any kind of shopping and eating is available nearby... in Wappingers, East Fishkill, Poughkeepsie and so on.
Gas right now is in the 2.70 - 2.90 range depending on where you go. Closer to 84 and the Taconic will run you a bit more.
Hopewell was actually on a best places to live in the US list some years back. Schools here are considered to be very good.
I travel to Waldwick often and its about a hour taking 84 and the thruway or you can go Bear Mountain to the Palisades, which will get you to the northern NJ and Nyack area in about 50 minutes.
From Hopewell you can catch the train from Beacon into NYC. The drive taking the Taconic is about a hour and 15 minutes.
As for taxes, ours arent near 10k, theyre much less for a house valued at the mid400s.
Please buy my house so I can get the hell out of NY