Downtown Norfolk and the Ghent neighbourhood are walkable, and the two areas are connected by the free Tide Light Rail line, which runs from the eastern suburbs through downtown to the medical centre district. The light rail is useful for getting between the main visitor areas without a car.
For anything further afield — the Botanical Garden, Naval Station Norfolk, Ocean View — a car or rideshare is needed. The tunnel crossings to Virginia Beach and Hampton Peninsula are straightforward by car. Parking downtown is reasonably priced in city garages.