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Driving from Edinburgh to Skye and Back

We have a family group of 6 adults traveling to Scotland this September. We are focusing on Edinburgh and Skye. We have two days in Edinburgh, one day driving to Portree, three days on and around Skye, and one day driving back to Edinburgh. We are renting a 7-passenger van and limiting most of our driving to two days. My question is: On our driving days, what will we have time to see and do? Things of interest to us include Doune castle, Stirling Castle, the Kelpies, the Falkirk Wheel, as well as the numerous viewpoints and occasional short side hikes. I was also thinking about going out on one route and returning on a different route. My preference is to do things that take significant time (like Sterling Castle) at the end of the driving day so you know how much time you have and can relax and enjoy. I was thinking about doing the Kelpies and the Falkirk Wheel on the way to Skye, and Stirling Castle (if there is time) on the way back to Edinburgh. Any suggestions as to routes and stops would be appreciated.

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I live on Skye so am very familiar with driving to and from Edinburgh. I consider it to be a whole day drive - it takes me about 6 hours and I am not driving slowly or stopping to hike etc.

My suggested route for you based on what you've said in your original post would be as follows.

Edinburgh to Skye. Aim for Falkirk and the Kelpies as early as you can. Once you've seen them head north on M9 and then take A84 heading west via Callander. Then head north on the A82 passing through Glencoe and arriving Fort William. At this point you have the choice of deciding whether to approach Skye via the Mallaig to Armadale ferry (if your timings work out and you can make a reservation), or continuing north on the A82 and then the A87 crossing the Skye Bridge at Kyle of Lochalsh to arrive in Skye. I live in North West Skye and it takes me 3 hours (without stopping) to drive from Fort William to my house. It would be about the same to drive to Portree from Fort William (I don't know where on Skye you are planning to stay).

Skye to Edinburgh. Take the Skye Bridge and A87 to leave Skye retracing your steps as far as Spean Bridge. Then turn left to head east on the A86 picking up the A9 at Dalwhinnie (decent distillery in case you fancy a tour). Then head south on the A9 towards Stirling. You could easily spend 3 or 4 hours in Stirling seeing the castle and the Wallace monument. So you might prefer to add a night in Stirling before continuing your journey back to Edinburgh via the M9.