Paso Robles is a small city and the downtown is walkable — the square, most of the restaurants, and the tasting rooms within the city limits are all within a ten-minute walk of each other. The municipal parking lots around the square are free and rarely full except during major wine events.
The wineries are another matter. They are spread across a wide rural area on both the Westside (west of US-101) and the Eastside (east of the highway and along Highway 46 East), and there is no public transport connecting them. A car is essential for any serious wine touring. Some visitors hire a designated driver service or join a wine tour van, which avoids the problem of tasting and driving and often includes insider knowledge of smaller producers.
Cycling between wineries is popular on the quieter Westside roads, though the distances and hills require a reasonable level of fitness. Several operators in town hire bikes and can suggest routes. Lyft and Uber operate in Paso Robles but coverage is thinner than in larger cities — do not rely on them for late-night pickups from remote wineries.