I believe all of the busses which go by (including Compostela) stop at San Pancho, but that's at the highway and you still have a good walk into town (if you are carrying luggage...it's about 1/2 mile...farther if you are staying in Costa Azul area. I recommend people to take the Sayulita bus which does go into Sayulita and grab a taxi from there to San Pancho (100p or $5.50 to the town center.)
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