A well marked trail/series of steel ladders and catwalks to the summit of Pigeonhouse Mountain where you will be rewarded with some of the best views of the Budawangs.
Google Maps - Pigeonhouse Mountain trail and it will take you right there. It's on the aptly named Pigeon House Rd just off Yadboro Rd.
The walk starts from a large carpark with a fairly gentle ascent. The gradient gets gradually steeper until you reach the ridgeline. From here you get around 15 minutes of easy flat walking before it begins to get gradually steeper again eventually getting so steep you will need to climb a series of steel stairs and ladders to get up the near vertical rockface. At the top there is a lookout where you can get great views over to The Castle. You can also explore the summit a bit and check out views to the East where you can see all the way to the ocean.
Nil cost unless camping
https://www.alltrails.com/trail/australia/new-south-wales/pigeon-house-walking-track
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