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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).

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Hire a driver, but you have to start early. The route is usually to go first to Visegrad, then backtrack (sort of) to Szentendre and take the boat from there.

This guy is good: