Most people skip Taquile in favour of Uros. I think it's definitely worth a visit. Most tour companies offer a full-day tour covering Uros Islands and Taquile Island. You'll start in Uros and depart for Taquile at about 9.30am. The boat ride is about two hours. You'll spend a couple of hours on Taquile hiking and having lunch (about 20 soles and usually not included in the tour price) before heading back to Puno. Taquile makes for a nice hike in the countryside. The town square is at 4,000 masl though so bring warm clothes and be prepared for some breathlessness while hiking.
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