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Self tour of Semur-en-Auxois? Parking?

I may stop by Semur-en-Auxois very early on a Sunday morning, too early for the tourism office to be open to get their walking tour booklet. It is available by postal mail, but I've left it too late for that. Can anyone recommend a walking tour? We have about an hour. I assume no sights will be open but I would just like to walk around outside in a purposeful way. Will boulangeries be open to grab breakfast? Also, is there secure parking available? We will have luggage in the car. Thanks!

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It has been too long for this to be useful but when we were there on a Sunday morning the only boulangerie open had bread for those that had reserved it in advance. We had come into a rental at the base of the wall on Saturday and did not know that bread was only available. if you reserved ahead. It may be different now, but I would not count on a bakery open for business early.

https://janettravels.wordpress.com/2010/08/25/medieval-towns/
Consider parking outside the walls and then walking up and through the town -- it is quite stunning and from tower to tower quite small.