Tew Falls sheets off the escarpment in a single curtain, and the trail brings you close enough that the curtain fills the view, a white drop in the woods at the edge of Hamilton.
Stay on that rock line and Webster Falls shows up a short walk later, spray on the trail and the second fall on the same face as Tew. You get both drops before you ever see the peak.
The last stretch ends on Dundas Peak, a cliff-edge lookout over the Dundas valley. Woods, farms, and the city sit under the brow, the Niagara Escarpment cutting a hard line through the trees.
Fall colour is when these lots fill, late September through early November, the valley going orange under the brow. In that window the conservation authority requires an advance online reservation for the Spencer Gorge lots, and outside it you show up and walk.
The night is Valens Lake Conservation Area, a campground on a lake between these escarpment days. In the morning you drive back to the rim.
Book the Valens Lake site first, then the van. Hamilton Conservation Authority keeps electrical and water hookup sites here, reservable April through October, and the campground is alcohol-free. If you need more sleeping space than a campervan, Hamilton also has RVs for rent.
Royal Botanical Gardens and Rock Chapel
The Rock Chapel trails start from the trailhead on the escarpment above Cootes Paradise marsh. From the lookouts you look down on the marsh, open water under the brow, then a boardwalk that brings you to Borer's Falls, a curtain drop beside the trailhead. The Royal Botanical Gardens describes that fall as one of more than 120 waterfalls found in Hamilton, and parking at the trailhead is paid. Walk the rim, look down on the marsh, and sleep at Valens Lake.
Christie Lake Conservation Area
Christie Lake has a sandy beach against the escarpment, with swimming, trails, and disc golf. Bring lunch, swim, walk the shore, and throw a disc, then drive back to Valens Lake for the night.
The Bruce Trail through the Dundas Valley
The Bruce Trail's Iroquoia stretch is the walking line along the same escarpment. Through Hamilton it climbs the Chedoke Stairs on the escarpment face inside city limits and runs the Dundas Valley. You hike it as a day, and the van stays at Valens Lake, because there is no vehicle camping on the trail.
If the trip continues into Toronto, Algonquin is that city's trip. Oakville is the lakeshore night at Bronte Creek.
Niagara Falls is a separate day, and that overnight is a St. Catharines trip. Brantford is the Grand River if the trip turns inland.