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Danube Bend options

I am looking for insights on the most efficient ways to visit the Danube Bend towns of Szentende and Visegard. What are the best ways to get from downtown Budapest to Szentende (spend 5 hours or so), then go from Szentende to Visegard (spend 5 hours or so) and return to Budapest (preferably by boat). Efficient meaning maximizing flexibility while in each town, less hassle, quick travel (except maybe a leisurely return to Budapest).