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Tallinn For a Day

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We will be in port in Tallin for a full day. We plan to walk from the cruise port to the Upper Town, explore the Upper Town, have a look at Kadriorg Palace (just the outside and gardens) and then walk down to explore the Lower Town before heading back to the ship. I am having a problem finding an adequate walking tour map for Tallinn. Can someone please advise approximately how many miles or kilometers such a walking tour would encompass? I have read that we could take a taxi from the port to the Upper Town and start from there. What would be an appropriate landmark to give the taxi driver as our drop off point in the Upper Town to begin our walk?

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