The West Rim Track is a mostly flat 4km return walk passing multiple lookouts with views down a side arm of the Kangaroo Valley, and of a few waterfalls, particularly Fitzroy Falls situated at the start of the walk.
You can turn around early and shorten the walk, and the first view points are just 100m from the National Parks and Wildlife Office. There’s also an East Rim Walk which I don’t think I’ve done (although I could be wrong). You don’t need track notes. Fitzroy Falls is a longish day trip from Sydney, or easily accessible from the Southern Highlands and the southern Illawarra.