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You could start at the fort early, then head to Rushikonda Beach where parking is paid but easy to find, before making a quick stop at the zoo it’s only 20 km from the beach and finish at Kailasagiri. If you’re worried about traffic, try leaving the fort around 8 am so you beat the rush on the 10 km stretch to the beach. The zoo’s parking is small but free, and at Kailasagiri you’ll find a dedicated lot with a short fee. Would you prefer a scooter or a local bus for the leg between the beach and the zoo?