North head is technically illegal, and likely enforced... possibly.
There is a three bolt overhung route on a sandstone block up above the main crag at Barrenjoey (about as northern beaches as you can get). Views around 200 degrees over Palm Beach, Pittwater, West Head and into the far horizon eastwards. It's what you seek 100%. It is part of a National Park but climbing there is a permitted activity (it may not be at Balls HEad and certainly aint at North Head.
It's a f'n attractive spot to climb and a great place to take visitors to show off the northern beaches.