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I'll also vouch for the biking option, there are bicycle paths all along the "Nieuwe Waterweg" I would have chosen for the option to cycle to the town of Rozenburg, get the Ferry there to Maassluis, from Maassluis you can decide to take the train to Rotterdam, or cycle further to Vlaardingen, Schiedam, and eventually Rotterdam.
When taking the route to the village of Oostvoorne and go to the Spijkenisse option, don't,it will take you way too long, always aim for Rozenburg-Maassluis
Our local busses won't support the transport of the bikes, so you're limited to subway and trains
Next time, when you're making the same trip, book Stena Line to Hoek van Holland instead of Europoort, there are decent train facilities there.
Long story short, bike as far as you want or can, and take a taxi or train from there!
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