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Palmyra Township covers an area of 82.57 square miles (213.9 km2) and contains one incorporated settlement, Baldwin City. According to the USGS, it contains six cemeteries: Baldwin City, Brumbaugh, Oakwood, Old Black Jack, Prairie City and Vinland.
The stream of Wymore Creek runs through this township.
Douglas State Fishing Lake northeast of Baldwin City has fishing, hunting and limited camping.
Signal Oak, a hill north of Baldwin where a tall oak tree once stood that was used to warn Lawrence about approaching guerrilla attacks during the American Civil War. The tree is gone but is clearly marked and has a scenic view of the Coal Creek, Wakarusa and Kaw Valleys.
Spring Lake, a small fishing and recreation lake southeast of Baldwin offer scenic views, fishing and hiking trails.
Ivan Boyd Prairie Preserve and Robert Pearson Memorial Park, located east of Baldwin marks wagon ruts along the Santa Fe Trail and the Battle of Black Jack which some consider the first battle of the Civil War.