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The customs clearance at Hakata Port International Terminal is really quick, perhaps less than 30 minutes if you are the last off the Beetle. Once you are through customs, take the number 88 bus which will get you to Hakata Station in approximately 20 minutes.
The number of immigration queue passengers are equal to your ferry passengers in Hakata port. There’re usually two desks open. It won’t be long before you exit to the arrival hall. Take a taxi in front of the terminal building. The ride is 15 mins or so to JR Hakata station.