It is a short 10 min drive, we loved Saint Andrews State Park
You definitely need to drive. It's over a couple of miles.
In my opinion, about a mile away as the crow flies, and not close enough to walk. Especially if you have kids or take anything to the shore with you. Those are very busy roads with several lanes of traffic.
Too far to walk, maybe 3-5 minutes by car, depending on traffic.
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