Best to ask for a tour.
You can't walk around by yourself if you're not staying at the Homestead. When you check in you get a VIP Pass which give you the authorization to go wherever you want. If you are not staying at the Homestead you can just go on the tour and have to leave at the end of it.
You can just walk if you're a guest at The Homestead (their B&B). Otherwise, you would be best served by taking a tour.
You can also just walk, but better to have a tour first.
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