Pilgrims from Ireland and Wales 'transshipped' via the SW peninsula, landing on the N coast and making their way to ports on the S coast. In Devon, they landed in ports such as Minehead, Bideford and Barnstaple, and headed south to Dartmouth or Plymouth.
In Cornwall, much research into transshipment routes has been done by the Bredereth Sen Iago. They created the St Michael's Way, from Lelant and St. Ives to Marazion and St Michael's Mount, waymarked with the stylised scallop-shell logo. A pity there is no ferry to take one over to Mont-St-Michel.
Another possibility is the Saints Way, from Padstow (= 'Petroc's holy place') to Fowey; this passes close to Bodmin, though does not go through it. There is no modern ferry service, though Fowey can be connected with ferries at Plymouth using the SW Coast Path.