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Getting to Cabo San Lucas has been greatly improved by the installment of connective highways, paved roads, and several ports of entry by air and sea. Getting around Cabo San Lucas isn't all that hard either, and not expensive at all, if one is willing to commute, and avail of the buses passing through strategic bus stops. The main bus stops travelling around Cabo San Lucas is the corner of Blvd. Lazaro Cardenas, though bus drivers are akin to stop if requested by people on any point in the beaches or hotels along the Los Cabos Corridor en route to San Jose del Cabo. These buses are considered the main form of public transportation and they go by the name Subercabos.
From the airport, there are plenty of private taxis available, though hiring one is quite expensive. Taxis are recommended if there's a group availing it; otherwise, another form of transportation may be more practical.
Another more practical mode of transportation from the airport is the airport shuttle van, which is definitely cheaper than a taxi and more practical if there's only one or two travelers. Certain hotels may offer discounted pick-up service if their package includes it.
For visitors, it is not so advisable to rent cars, since Cabo San Lucas streets are usually clogged with cars, making maneuvering and parking quite challenging, especially when the peak tourist season comes (March to April). If a visitor insists on taking a car however, he/she would do well to remember the public carpark at the southern end of Boulevard Marina, where cars may be left so the person can explore the city by bus stops or on food. Aside from these, there are restaurants, particularly the high-end ones, that offer valet parking.
Once you get in the city, it's really a lot more enjoyable to explore on foot, taking the occasional bus ride as needed. With a city as interesting as Cabo San Lucas, its really more worth it to walk by instead of rushing past in vehicles.