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It always seems counterintuitive to "go the long way," but if you have a day job that's precisely what I recommend. Take 93 north and whiz past the parking lot effect going in the opposite direction, then pick up 128/95 south to Marrett Rd and you're there.
If you're willing to put up with "setsa lights," take Route 60 west out of Medford Square, then turn right on Mass. Ave in Arlington Center and follow it out to the Marrett Rd intersection in Lexington. The National Heritage Museum with its sweeping lawn is the landmark to look for - it occupies the northwest half of that corner. This is a more direct route, but not a great deal faster than the one which involves the expressways.
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