On the 13th floor of City Hall in the centre of Toyohashi, the free observatory is at just the right height: it's high enough to give a good view out over the city to the surrounding hills and countryside, but also still close enough to the ground for you to be able to pick out details. You can see the pleasant neighbouring park, the river that runs through the city, and up in the observatory there's also a 'History Corner' (in Japanese only) which I imagine gives information about the city.
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Toyohashi City Hall Observatory
Enjoy a view from the 13th floor