Over the Risøy bridge from Garpaskjærkaien
Haugesund's cruise pier is Garpaskjærkaien, on Risøy across the sound from the main town. Town is about 950 m away, roughly a 20-minute walk over the bridge in front of the ship. The view down Smedasundet from the top of the bridge is worth the climb, but it is a steep one - hard going in a wheelchair or with a stroller.
Most calls get a shuttle bus that loops continuously while the ship is in and drops at Vår Frelsers church in the centre, a few minutes' ride. There is free Wi-Fi on the pier and an ATM both there and in town. Prices are in NOK, but cards are accepted almost everywhere, so changing money is rarely needed.
Avaldsnes without a tour
The Nordvegen History Centre at Avaldsnes is 15-20 minutes by car, across the Karmsund Bridge onto Karmøy. Local buses run there too; the Rogaland journey planner app has the times. Allow 2-3 hours for the museum and the reconstructed Viking farm on Bukkøy together, plus the 13th-century Avaldsnes church next door.
The Viking farm is fully staffed in summer and can be limited outside the peak months, so on a shoulder-season call check before you go. Haugaland Taxi offers fixed-price trips to Avaldsnes if you would rather not deal with the bus.
Sources: fjordnorway.com, norwayexplained.com