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Itinerary - Boston to Bar Harbor

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My friend and I (50ish) are planning a New England vacation for early Fall (Thu Sep 6 – Wed Sep 12). We will be flying in and out of Boston and driving up the coast to Bar Harbor and back with various stops along the way. What kind of itinerary would allow for us to enjoy the drive up and back and not have to spend all day in the car? Is there a way to make a slow/fast, fast/slow pace up and back? I thought about spending our first night in Marblehead and then heading North the following day with a quick stop in Salem. From what I’ve read so far nice places to visit would be Portsmouth, Camden, Bath, Boothbay, Wiscasset, a boat trip to Monhegan, Acadia Natl Park. Any suggestions on routes and timing?

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