Actually, if it were my trip I’d likely pick Port Townsend as the “base station.” There are some lovely places there to stay near downtown, and it’s a better place from which to make excursions, IMHO. We’ve returned to PT to visit many times but not to Friday Harbor, by comparison. The most recent, and second time only to FH, was in March 2018. We actually got there by ferries from Port Townsend. In my view, it’s over-rated as a travel/vacation destination. It reminds me of Avalon @ Catalina Island in its deficiencies. The “shared problems” of island “resort” towns. But, I have not visited Rosario or Orcas Island, so no direct help on that one.
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