A short bus ride from the ship, then a people carrier (overhead rail) to Piazzale Roma, then buy a ticket for the vaporetto, find the vaporetto stop (over the bridge, but there might have been one closer). We stayed on the vaporetto all the way to the Lido, seeing all the sights on the way, and found the Lido a less crowded charming place, lots of cafes for lunch. Bring your own guide book.
A very long queue for the cable car up to the town; so we queued for slightly less time for the donkeys. Quite scary, but inexpensive. Donkeys going up meet donkeys coming down, and if your donkey presses against the wall on your left too closely, your leg gets squashed. Rather smelly too from the dung, but all in all quite an experience. Cable car down was easier. Lovely little town, great shopping, great restaurants.
Did not bother with Olympia, though my husband went on his own. I took the little local toy train to the winery (Mercouri, nice wine tasting, but not much to see) and to the beach, a very charming ride.