I've done both Devil's Path in-full and recently hiked this section again by entering via Pecoy Notch. Pecoy has a gradual ascent into the notch of Sugarloaf and Twin, with low difficulty and an awesome rest stop at the quarry (to the junction and back on Pecoy can easily be done in 3hrs and is not dangerous at all). If you do the full loop, know that the west side of Sugarloaf (via Mink Hollow) is very steep. If you are looking for less scrambling, I recommend just doing Twin Mountain, as there is only a small section of steep scrambling. The eastern peak has a better viewpoint. Dogs are not recommended, unless you like lifting them.