Traveling to NYC in July

My husband and I will be visiting NYC at the end of July. We’ll be there for 5 full days and are staying in Queens. Thanks to other posts, we are planning to go to the main NY Public Library, Central Park, MET, American Museum of Natural History, walk the Highline go to Hudson, walk the upper east and west sides, walk Greenwich Village and SoHo, go to DUMBO, eat in China Town and go to Washington Square park. What are some non-touristy hidden gems that we should make sure to do or see? And, what places from my list should I swap out for them?

We are in our 60’s, and want to not only see the touristy things, but also the places that would give a good idea of what it is like to actually live there.

Where do the locals eat? We learned a long time ago that the best (and most reasonably priced) meals are not in the tourist areas. What do you recommend?

We prefer spending our time wandering around seeing things, as opposed to staying at 1 place all day. Our preferred mode of transportation is walking, as you get a better feel for a city that way.

I appreciate any suggestions you may have!