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Doubtful Sound or Milford Sound Overnight Cruise

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My family of 7 (6 adults and one 5 year old) will be traveling to NZ in March. We are trying to decide where to spend our last night. I am leaning towards the Doubtful Sound overnight cruise but am concerned about making our flight leaving Queenstown the next day at 4:45 (3:45 final check-in for international flight). The cruise would get back to Manapouri around noon, then we would have a 2 1/2 to 3 hour? drive to QT arriving at 2:30-3:00 - not allowing much extra time for lunch, bathroom breaks (5 year old) and rental car return - BUT is doable. not allowing for any contingencies.

The other option is the Milford overnight cruise that would get back at 9:15am. We would then drive 4 1/2 hours? to QT, arriving around 2 pm, giving us a little more extra time before our flight.

I was leaning towards Doubtful Sound which was recently recommended to us because it is a little less crowded and is a shorter drive time to QT but we have less time to make sure we catch our flight the last day.

Also, is it safe to leave our extra luggage in our rental car at either the Milford Sound or Manapouri car park? Or do we need to keep it in baggage storage overnight? Getting it out of storage would require more time the last day too.

In Doubtful Sound I would love to take one of the smaller boats (Fiorland Expeditions), but their departure from Manapouri is at 9:30am (vs. Real Journeys at 12:30) which may be too early since we will be driving from Cardrona that morning.

I haven't looked at the smaller boat options in Milford Sound yet.

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