On 9w (Main St) Marlboro, about 6 miles north of Newburgh is The Raccoon Saloon where you will find the best hamburger in the Hudson Valley along with a wide selection of beers. If you go, be sure to insist on a seat in the bar by the windows with a great view of the river.
For a family style place with excellent meat loaf among other home cooking style meals; Gus’s on Quassaick Ave in New Windosr is very good. Just a block or so off 9w just as you are entering Newburgh – in fact, I think you can see the place off on the west side of the road from 9w.
Something unusual and very good, a bit upscale, is the Macchu Picchu Peruvian restaurant at 301 Broadway, Newburgh – just east of the corner of 9w and Broadway.
For a hotdog and such, Anna’s at 491 Broadway in Newburgh is good. The place is on the south side of Broadway about five blocks west of 9w.