They do have hiking trails. Yes you share some of the trails with hikers. We have encountered 3 last year. Don't believe you have to pay to hike, but check with office.
Most of the trails are exclusively open to atv traffic. I imagine youd be violating park policy by walking them and frankly as a rider, i dont want to have to worry about pedestrians on a two-way trail system.
I dont think so just to ride it
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