There's a charge for vehicles paid on the Torpoint to Plymouth crossing. Pedestrians and cyclists are free.
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The ferry terminal is then a short taxi ride or 20 minute walk from the city center. Tip: in case you decide not to embark your vehicle on the ferry, you can leave it at the paid car park close to the ferry terminal (parking is free for 2 hours).
You can drive your car right onto the boat, or board as a foot passenger and simply walk on. The ferries run year-round and there are several sailings each day to and from each of the four main islands - Lopez, Orcas, San Juan, and Shaw.