We always stay in San Stefanos and do a daytime cliff walk to Arillas and back by road. As neither of us drive, if we visit at night to try different tavernas is there any way back other than walking? A few carafes of wine may have played some small role in the evening.
You can get a taxi or a lift basically. The owner of wherever you're spending the evening will phone for you with no doubt.
We solve that problem by being based in Arillas.... But I guess we'd have to pay for a taxi after an evening in San Stefanos. In the end though, we can never get round to everywhere we want to in Arillas, even during a three/four week stay, so it never arises for us!
Best wishes
Phil
BTW, welcome to the forum. Just noticed you are a new poster on here. It's a lovely community.
Phil
Hi don1 and welcome. My brother and sister in law always stay in San Stefanos and walk over the cliff to Arillas 3 or 4 times. They never have a problem getting back. Sometimes they walk back by the road - rather a hike after some wine and ouzo! Mostly they can get a taxi, Noula at San Stefanos travel can help there, may have to wait a bit - but so what, its Arillas time and waiting doesn't matter and sometimes the friendly locals will offer a lift. So no worries, just do it!
Love Ann x
PS - a torch may be useful if you decide to walk back to San Stefanos
Ann x