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Help with driving directions to Muir Woods...

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Hello. We will be in San Francisco for about two days in early May. We like the idea of renting a car and heading to the Muir Woods on our own. We are staying at the Holiday Inn in the Wharf. Are we crazy? Should we just consider a tour? I like the idea of getting picnic supplies at the Ferry Building and having our own time in the woods. A tour won't allow this. Advise much appreciated, including specific driving instructions from the Wharf across the bridge, suggested stops along the way, and to Sausalito from the woods. Thanks so much!

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