Pontevedra is amazing, but I have lived in Vigo for a while w/out a car and it was a nightmare to go to the beach. Reaching Playa America (30 km from the citycentre) takes 20 min by car, but more than 1 hour by bus! Moreover, if you're not resident, you have to pay every time you change bus, crazy!
The nearest beach from Vigo center are Samil and I Vao, in public transport will take about 45 min. On a car 15 min...
But Vigo is now a way more walkable city than a decade ago.
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