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When I've had a full day I've used cycle.travel to plot a route back from Harwich (roughly NCR 51 to Colchester then NCR1 and lanes to Chelmsford, then lanes to Upminster and follow the cycle routes into town); it's mostly laney and pleasant, but next time I think I'd rather get the train back (either direct from Harwich, or ride to Manningtree and get the fast train back from there) and have an extra day's touring in NL.
What a trip 👌. Interested to know your route back from harwich and if you’d recommend it