Navigating the New River Gorge NP is harder than some parks because it is so broken up. There isn't a good way to get from one part to another without backtracking. It also includes some rough back roads.
This is the view from Canyon Rim overlook at the Visitor's Center. There was a way to drive under the bridge but the road was closed when we were there.
Finn's Falls - parking right before you go to ACE Adventure Resort in Thurmond
Castle Rock trail - fun hike
Sandstone Falls - we didn't go to the overlook but took back country roads. I wouldn't recommend the back roads