If you prefer to see foliage on foot rather than through the window of your car, The Day Hiker's Guide to Vermont from the Green Mountain Club is an excellent resource, and their Long Trail Map lists a lot of hikes in the prime foliage areas.
Guidebook source
The "Gap" roads often recommended on this forum usually have parking areas at trailheads for spectacular hikes on the Long Trail, many of which are easy enough for anyone who can walk two or three miles.
The trick is to make sure the trail has some vistas or lakes where you can get longer views.
An good trail for the disabled is in Jamaica State Park on Route 30 between Brattleboro and Stratton Ski Area, where an old railroad bed has been turned into a wide, nearly flat trail along the West River.
If you want to take a walk
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Re: If you want to take a walk
One of my favorite hiking area is the Little River State Park/Cotton Brook area. You will have old roads with stone fences, old house foundations and Little River has 2 cemeteries and an original house. You can pick up the Little River Road off route US 2 west of Waterbury. You can pick up the Cotton Brook Road off the Nebraska Notch Road above Moscow in Stowe VT. Go ahead and kick the leaves as you walk along. They love it.