Horse Ranch Park serves as the trailhead for some awesome adventures like the Dark Canyon Trail and Dyke Creek Trail. Dark Canyon, Irwin, and Dyke Loop hike is approximately 6 miles RT or can go to the pictured overlook at 4 miles RT. This area is not wilderness and drones are also permitted.
If wanting to do an out and back hike that is around 4 miles RT with the best fall views, after 0.2 miles the trail will split -- STAY LEFT.
Overlook from my first photo is around here and will require you to go up an obvious trail on the rocks: https://maps.app.goo.gl/TZnx3bT73ZhTY39aA (there are a couple of overlooks in this area)