Sydney's best harbour foreshore walk is a three-hour hike through ancient bushland and harbourside suburbs along the north shore with frequent views of the water and city. It is a bit of a trek via bus to Spit Bridge and quicker to cough up $30 for a taxi. The finish in Manly is perfect: you can treat yourself to a swim, fish and chips or a cold schooner of Toohey's New (or Old - Sydney's classic beers).
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