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@serk
I commute to Canary Wharf from Peckham on occasion. I don't use the Rotherhithe tunnel but bikes are allowed. Wisdom on Rotherhithe tunnel is that no one minds if you ride on the pavement really as pedestrians don't use it. If you ride on the road then you're best off during busier periods as cars won't mind you going 20mph in a 20mph zone with traffic in front and behind. However, at empty times cars will try dangerous things to get around you.
I tend to go Tooley Street to Tower Bridge, then I take the cycle highway on Cable Street all the way to Canary Wharf via Narrow Street. If you want to avoid the Highway just follow the superhighway markers. There are a couple of tricky bits but once you do it once it isn't too bad. The Cable Street cycle lanes are seperate from the road, and although I usually hate this (Torrington Place is hell on earth) I usually don't mind the Cable Street route.