The walkway would be great IMO. I'm just griping that it hasn't gotten off the ground. :)

Normally from the wharf area I'll cut through Salamanca and join Sandy Bay Rd just past St David's Park and roll the dice going through the business district of Sandy Bay, which can be pretty gnarly. If you have more time you can follow the Salamanca waterfront around to the back streets of Battery Point and cross over the bridge at the bottom of Quayle St - the reverse direction hurts if you don't have an ebike though.