While I thought the Urban Hike of 2019 was one of our best, despite the rain, the Brooklyn trip of 2018 remains my favorite so far. To that end, this article about Battle of Brooklyn sites is worth a look-see. We stopped at a number of these sites, such as the Old Stone House, the Gowanus Canal, Brooklyn Heights, and the monument to the prison ship martyrs.
The article did miss one site, on the side of a bank, which commemorated the battle (perhaps the author is unaware of this plaque, but we stumbled upon it and I wish I had a picture or a location to share).
Looking forward to planning 2020's Urban Hike. Need some thought starters. Right now, Wave Hill to City Island is what I'm considering, but that's more walking and less sightseeing.