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drive Rocamadour to Avignon

My question which route from Rocamadour to Avignon will have the fewest cliffside driver: I am only afraid of vertiginous roads without guard rails (such as driving up from the Lot river to Grotte Peche Merle.) Being up high such as in Rocamadour or St. Cirq la Popie is no problem, only the driving. So...What is the route that will take me from Rocamadour to Avignon without a heart attack? I'd even appreciate the route numbers and/or the major intersection towns. I have looked at Google maps and Michelin maps but cannot tell which route would be least vertiginous. Thanks.

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