Short answer: Fore Street along the water is the flattest ground in Salcombe. The passenger ferry to Mill Bay gives you flat sand without the lanes or the hills. North Sands is the most level beach approach by road. Overbecks has steps-only sections and parking a mile and a half away.
Salcombe is built up the side of an estuary and the hills are the defining feature. Streets run down to the water at a proper gradient, the car parks are above the beaches, and several of the best spots are reached by lanes and steps. It is workable, but it takes planning rather than optimism.
Fore Street, running along the water through the middle of town, is the most level stretch and it has most of what you want on it — the cafés, the pubs, the shops and estuary views from the right tables. Base a day here rather than trying to get down to a beach.
The passenger ferry from town to Mill Bay is the single best thing about Salcombe for anyone with wheels. It drops you on golden sand on the East Portlemouth side without the forty-five minutes of single-track lanes, without the National Trust car park lottery, and without the hills. Mill Bay is flat, has a stream running beside it, and is the best family beach here.
North Sands is the closest beach to town by car and the most straightforward approach, with a good café opposite. Remember the parking machine takes cash only and the phone signal is poor. South Sands has a car park opposite the beach, but the road down is very narrow and the free parking further up means a steep climb back — the sea tractor and ferry link into town is the better return.
The National Trust garden above South Sands has one of the best estuary views in Devon and a Victorian musical box indoors — but parts of the garden are reachable only by steps, the parking at the house is very limited, and the overflow car park is a mile and a half away with a windy walk in. There is an accessible café and toilets. Ring ahead rather than turning up hopeful.
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