Ward Reservation and HP are close and worth an exploration. Routefinding is not too bad at either (sorry not able to guide you). Both have decent maps with numbered intersections. You can also connect them with either the Bay Circuit Trail or by a short road ride.
http://www.thetrustees.org/places-to...servation.html
http://www.mass.gov/dcr/parks/northeast/harp.htm
http://www.baycircuit.org/Map3.pdf