Parked at Waterloo Village and took Highlands Trail, bushwhacked past Pebble Loop and got to summit. Re-traced route back to car. Not much of a view.
Parked on Stuyvesant Road, off of route 517; Stuyvesant Road was in questionable repair, so drive it carefully if you do.
Took the 517/Waterloo Trail to the Switchback Loop to the Ditch/Cardiac Trail to the summit area. Took some unmarked trails on the north side of Allamuchy until I found the Ditch/Cardiac, and the back to 517/Waterloo Trail to the parking area. I saw a lot of poison ivy on the unmarked trails, and some on the Ditch/Cardiac Trail as well. The 517/Waterloo and Ditch/Cardiac both have a number of re-routes due to significant erosion on the original route, so if you plan to use the trails, watch the blazes.