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British Isle Cruise - Ports

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My family, all adults (53-65), is going on the Princess British Isle Cruise in August. We're deciding between ship excursions, hiring a tour guide (only for Scotland or Dublin) or wandering on our own. Does anyone have suggestions on which might be best in which ports? Suggestions on what highlights to see with the limited time available?

Milford Haven 9 hours
St. Helier 5 hours
Dublin 10 hours
Edinburg 2 days (we are going to the Tattoo)

Thanks!

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