There's little point to going to London if you miss Westminster Abbey. Despite the throngs of tourists, etc, it is an absolute must see. It is an incomprehensible journey through British history. To be standing over or in proximity to legendary figures: Darwin, Newton, Elizabeth I, St. Edward, etc, is hard to comprehend.
I strongly suggest booking a guided tour. The audio tour only scratches the surface. We listened in on a couple of groups, and they were getting much more information.
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