corporate-wage-slave

One museum very near Waldorf, very quirky, is Sir John Soane's Museum. Free of charge, no need to reserve, except if you do need to use the lift for mobility reason you need to call or email them. The elevator is not in a public area but gets you to all floors. It's fairly compact and it was very lived in by Sir John. The exhibits are just left out, they tend not to rope things off. So you can get right up close to a Canaletto in a way which you can't do anywhere else.

There are hop on/hop off buses, some of which run right by the hotel. If you are able to get to Covent Garden tube station, that's on the direct tube link to Heathrow. Lift access. The hotel is also less than 10 minutes from Waterloo Station by taxi or bus, or walking will take 20 minutes or so, it's under a mile. If you are arriving at Mayflower Terminal in Southampton then if you Uber from there make sure Mayflower is shown as your location, it's right in the middle of the docks and taxi drivers often see another location. But there are taxis on a rank there. If you are on a Cunard service, the purser desk will put you on a London coach to Heathrow, Gatwick or St Pancras, what they are actually checking for is that no-one has less than 3 hours for checking in against their advertised arrival time. If you have a later flight then that's fine. But it's something like USD90 for the coach ride and St Pancras is not as convenient as Waterloo. Plus it allows you take your time disembarking, since there are at least 2 trains an hour, whereas they want the coaches off PDQ.