You can walk down the mountain or take a taxi/ride share. Just make sure to schedule your return ride as there is no cell service down there
You can reserve parking in order to be closer if you can't walk far
If you don't mind driving, there is parking at Muir, but you need to reserve parking in advance. Also as Lucas mentioned there is no cell service in or around the woods, so make sure to plan a way home ahead of time if you're not driving.
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