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Cliffs of Moher, the Burren and Dingle without a car

We are in our 80's and have about 3 days to travel from Dublin to see Cliffs of Moher, the Burren and Dingle. Is that possible in 3 days? Is it best to take a train to Galway? Are there day tours or do we need to hire a car and driver? (Was told that we're too old to rent a car in Ireland!) I love John O'Donohue's writing so would like to get close to where he grew up and is buried. Any suggestions are welcome.

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