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The event comes a day after Trump was injured while delivering a speech at a rally in Pennsylvania.
The city budget approved by the mayor and City Council last month restored $58 million in funding for the library systems that had been stripped away.
City Hall said the move had been made out of an abundance of caution, and that there were no known ties or threats to New York City.
In 2022, Kavanagh became the first female FDNY commissioner in the department's history.