If you are in Paso Robles and don't make a trip to San Simeon you are missing part of the romance of Paso Robles. About an hour drive from downtown Paso puts you on the beach, a bit further puts you by Hearst Castle at San Simeon. Get up at 6AM some day and you can be back in town by 9AM but make the trip. The canyons on the drive are amazing and the ocean shore is incredible.