Walk straight to the Great Tower for 360-degree views of the town—it’s the only way to get your bearings. Spend an hour exploring the massive stone map of Wales in the courtyard and descending into Wogan Cavern, a legit prehistoric cave under the fortress. Skip the wax figure exhibits if you're short on time. Two hours is plenty here. Grab a pasty from a shop on Main Street afterward for the full Pembrokeshire experience.
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