Guarujá is notably walkable in areas like Pitangueiras and Enseada, where travelers will find a variety of shops, cafes, and essential services within a convenient distance. Travelers can comfortably stroll to work-friendly spots and dining options without much need for a vehicle. However, the overall city is stretched along the coastline, so access to more distant beaches and attractions may require some other form of transport. As with any location, it's important for travelers to exercise caution, particularly during nighttime excursions.

Public transit in Guarujá primarily relies on buses, which, although affordable, may not provide the frequent or extensive coverage one might find in a city with advanced metro systems. This system serves main beaches and commercial areas but can require planning and patience, particularly during peak hours. Travelers can also consider using Uber for more flexibility, especially for trips to and from São Paulo.

The city offers a positive experience for cycling, especially along coastal areas like Enseada, where cycleways are present and the terrain is flat. This makes casual biking an enjoyable and practical way to explore locally. However, because dedicated bike lanes are not comprehensive, travelers should remain alert to traffic when cycling on roads. Renting a bike might need some search effort but proves beneficial for travelers wishing to stay longer.