Bali doesnt really have cities. It is all quite small,
Denpasar, the capital, is really the only place you may say is a city.
Ubud to Amed is a 2.5 hr drive
Amed to Nusa Dua is 3 hours
Nusa Dua to Jimbaran is 30 to 40 mins.
Cabs are generally small sedan cars. It is better to hire a driver, who will have a larger/higher vehicle for the longer jouneys. You will get a much better view of the countryside. Private drivers are usually more educated about the culture. If you choose a driver from the T/A list, they will also have some english.
There is only one city and it is Denpasar, the rest are more like villages.
Kabirgirl was pretty accurate with the driving times, in my experience that is how much time it takes me when I'm driving.
On that subject, if you want to experience Bali and enjoy the view while driving around, do take a driver. Driving in Bali requires 150% focus.
I do kind of enjoy it though.
A driver will not get lost, you will certainly as there aret almost no road signs.
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