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Not yet. But one day, I hope. Just need to overcome fright of ferries :). I glad curie approved your post.
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Thanks for nominating me! It makes me feel all warm and fuzzy. Maybe you can start with the ferry over to Bainbridge with someone you trust along for the ride. It's not too long a journey and there's some good food on the other side.

We want to start with Whidbey Island first as a family trip.

That sounds perfect, and you can always drive around if you decide you don't like the ferry (or ride on to Port Angeles if you do!)