How can I get from Sausalito to Muir Woods on Friday?

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Rome2Rio suggests various options including public transport, taking a taxi, and driving. All in all the hassle-free option would be the taxi. Rome2Rio quotes approximately 30USD for the journey. It's a bit steep, but you're talking about ~13km. If not you can always rent a car and travel at your own schedule. I doubt that will be cheaper than 60USD though (2 times the cab fare for a return journey).

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