If you're heading back to mainland Tokyo after visiting Odaiba, I recommend getting some exercise and walking across the bridge. It's fairly peaceful if you can ignore the cars as there aren't many people who can be bothered to cross it but I would say it's worth it as the view of Tokyo is pretty interesting, especially during the evening/at night. I would make sure you know where you're heading once you get to the other side though as it'll be dark and there aren't really any people to ask for directions to the station from unless you wander around for about 20 minutes.
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