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Mendocino Headlands SP is great and it's right in Mendocino. Mekerricher SP (north of Fort Bragg) is bigger, but much more crowded. It's hard to even find parking on a weekend, although I guess you could hike there from the Beachcomber. The Mendocino Botanical Garden is an amazing place to spend a few hours.
I've gone up through the wine country and through the redwood state parks on 128, and then back on 20 past Clear Lake (The Blue Wing Saloon on the main drag in Upper Lake is great though pricey), and 16 along Cache Creek. Lots of twists and tunrs either way, so plan for the trip out-n-back to take a long time, like 3-4 hours.
If your 6 year olds are anything like my 6 year old was a few years back, you have to take the Skunk Train. 6 year olds are still into Thomas the Tank Engine and all that, right?
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