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Not sure about Panama, but Costa Rica...IMHO, NO. Kind of a rough area. I would pay the extra for the safety of the ship's excursions. We did a tour to the rainforest in CR and thoroughly enjoyed it. Once at the rainforest, we took a tram ride through the rainforest(it was slow and safe). It was a 2 hour bus ride, but it wasn't bad, and the countryside was quite pretty.
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