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How to go for day trips from Tbilisi
Some of the places are reachable by public transport however this might be a bit time-consuming, uncomfortable, and challenging to navigate (but definitely not impossible!).
If you rent a car you can easily visit all the sites independently and spent as much time as you wish in each of them. However, Georgian roads and especially Georgian drivers are a bit crazy so if you are not a confident driver you might want to rethink this option.
The best option seems to be day tours from Tbilisi, either group ones or private ones. Since Georgia tourism is booming there are numerous companies offering tours to each of the popular destinations and you can easily find the one that suits you best.