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Self-Guided Walking Tours For Savannah and Charleston

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My husband and I will be driving through Georgia and South Carolina in early November. We would like to allow a day in each of Savannah and Charleston to nothing buy walk around, and people watch a bit. The rest of the time, we will be running around to historic National Parks, just like we did with our children back in the day.

I am having difficulty finding really detailed maps of each city with a path, and numbered sites. I also have the usual guidebooks (Frommer's, Fodor's), but there is not enough detail. Any ideas?

Thanks a bunch in advance.

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