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transportation suggestions--heathrow to Canterbury or Dover

What is the best way to travel to Canterbury or Dover on May 6 for an overnight prior to a cruise (3 suitcases and 2 people?)

Considering overnighting in Dover since we will be tired and overnighting in Canterbury at the end of the cruise prior to our 4 days in London. Is there enough to see in Canterbury to spend a day and a night?

From the map, it appears that Canterbury is only about 10 miles from Dover? It appears to be on the way.