We drove up from Milford for a day-trip in August. It was an absolutely delightful experience for me and my two kids (6 months and 3 years). We used a jogging stroller and intermittently used a baby harness - both kiddos benefited from opportunities to ride, as the path is relatively long for little legs.
We were greeted by lovely staff, who gave us useful information about picnic areas (there are two) and bathrooms (there are several). Then we got to roam around the property, greeting various animals. There was a bat show and a Bard owl that we got to see up close. The only sad part was that the mountain lion wasn't on site the day of our visit. I will definitely be making the trek up to visit this place again next year.