We ended up just going out and going into the first restaurant we saw with tables available. It was an Argentinian steakhouse (which there are a ton of in Amsterdam) and it was the worst and most overpriced meal from the trip. I had a salmon and it was extremely undercooked. I sent it back, then they brought it back out and it was still undercooked. So they took it again, brought it back out etc..by that time it was almost midnight so we had to rush.
We made it to Dam Square with literally ~3 minutes to spare.
On New Year's Day, we went to Rijksmuseum.
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