Only if you stay in one borough.

You can see the same mix walking from anywhere close to midtown Manhattan through to Prospect Leffert gardens. And if you started in Harlem? The history!

Except on this walk you’ll also get Little Caribbean and the Hasidic community (if taking the Williamsburg Bridge, the most pedestrian of the pedestrian bridges.) It’s also a toss-up on which avenue to take to get through 50th down to 20th. I used to pick a new avenue each time I’d do the walk from Manhattan to Brooklyn.

I can name a few walks in the Bronx (where the traffic would be sketchy) too.

Definitely going to look into Queens routes now - thanks to the OP!