Rotterdam is a pleasant city to walk around and admire the architecture. There are several interesting buildings at both ends of the Erasmus Bridge. On the south side of the bridge there is an elevated walk enabling you get a higher view. Or get a higher view from the Erasmus Bridge itself. Lots of traffic on the harbor to watch if you can a place to watch from, and there are plenty of those, whether a park or cafe, all along the Maas.
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