Distances are short on the map and awkward without wheels. Caves Road is the scenic spine along the coast and wineries sit on rural lanes branching inland; designated-driver discipline matters if you are tasting seriously. Local wine tours are a sensible compromise, especially for first-time visitors.
The town centre is walkable for cafes, groceries, and the visitor centre. The beaches at Prevelly and the river mouth are roughly ten kilometres west, so cycling is possible for fit riders but not the easy default.