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Matt there are more than a couple "trails" down the cliffs but you wouldn't want to haul your kayak down them let alone up them.
Bluff Cove has one that divers and surfers use all the time, but again a kayak even with an extremely light load would be very difficult.
Luanda Bay has goat trails, fine with only a surf board under your arm.
Malaga is your best shot towards Rocky Point especially if you plan on going for a dark launch.
Terranea does have the closure to the north but going south is a great trip and can be fishy
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