Linhares sits on BR-101, the main highway along Brazil's eastern seaboard. Buses running between Vitória and northern Espírito Santo or southern Bahia stop in town, and the drive from Vitória usually takes around two hours when traffic is kind.
The useful places around Linhares are spread out. Lagoa Juparanã is close enough for a taxi or rideshare if you arrange the return; Reserva Natural Vale is on BR-101 north of town; Regência and Comboios need a car, local transport, or a guided arrangement.