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I've got three castles on my agenda for a drive between Selkirk and Inverness. Stirling, Doune, and Urquhart. It seems rather ambitious, but I don't really know. I don't want to have to run through them, but need to make the most of my time. What is a reasonable time to expect to spend at each of these castles? And overall is this too ambitious of a day? I'm willing to head out of Selkirk pretty early, if that will make it happen. Thanks for any advice.