I visited on a drizzly afternoon after a workday. You can spend as much or little time as you want as the sculptures have labels and the park is open 6am to midnight. There were also benches to sit and admire a variety of pieces.
I visited on a Thursday and was happy to learn the Walker art museum was free that day. The sculpture garden was free but the parking deck had a modest fee. There appeared to be some free parking on the street.
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