yes there are places to cross over to the other side from time to time. It's a parkway, which Robert Moses designed to be less about getting from point A to point B and more about having a pretty drive. There are trees and grass dividing the 2 directions. Most of the parkways are 2 lanes in each direction. No commercial vehicles are allowed, nor trucks.
This isn't the parkway, but it is a good example of what it looks like for parts of it.
USA: Parkways - SkyscraperCity
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The Taconic State Parkway runs from NYC (where it is the Bronx River Parkway) northward to the New York State Thruway - Berkshire Extension (I-90) in the Albany area along a ridge east of the Hudson River. I've driven its entire length and yes, it is a GORGEOUS drive, although the part south of I-84 can be a bit of a thrill ride at times.
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This is a stretch of the Taconic
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