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On the French border, Bouillon is one of my favorite spots in the Ardennes to spend a good and busy day. This is located 30 minutes by car from the Cocons d'Ardenne.
There are some unmissable viewpoints to go to the region. Most of them are accessible by car for the less courageous:
The famous viewpoint of the Tombeau du Géant from Botassart
The point of view on the crests of Frahan from Rochehaut
The view of the city from the Belvédère
The views over the Semois from the Frahan ladders
Etc...
Crossing the Epine bridge, visiting the castle, and doing some kayak on the Semois river are also alternatives to hiking that are worth the detour.
I highly recommend the following hike, passing through most of the places mentioned above. It takes a little bit more than 4 hours for the walk.
GPX route (to use with apps like OpenRunner/Komoot/Cirkwi etc...) :
Route on Cirkwi : https://www.cirkwi.com/fr/circuit/301941-epine-au-tombeau-du-geant
The shorter Frahan ladder walk (+/- 6 km and 2 hours) is also a must, but I advise you to get up early, or to do it outside of weekends or holidays, in order to avoid the crowds and the waiting time for the ladders to be climbed.
GPX route (to use with apps like OpenRunner/Komoot/Cirkwi etc...) :
Route on Cirkwi : https://www.cirkwi.com/fr/circuit/302318-promenade-des-echelles