Yes. They have "kangaroo busses" that have various stops around the park. Price is included in your admission ticket.
There is a guided bus tour that covers most of the zoo. It is included with the cost of your ticket. However, if you're a annual pass member it's $13. If you have walking issues, the zoo also has motorized wheelchairs for rent on a first come first serve basis. Also, there is a free shuttle bus within the zoo for guests with disabilities. If you'd like to learn more, please visit https://zoo.sandiegozoo.org/visit/guests-with-disabilities
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