Some of America’s earliest settlements straddle this 34-mile route, where villages sport Old English names such as Sandwich, Barnstable and Yarmouth. The road links historic churches and sea captains’ houses, protected harbors and open beaches. Museums along the way showcase art and glass, vintage cars and even fire engines. There are antiques stores and craft studios: no wonder visitors return year after year.  Ideally, you may want to stay two or more days on Cape Cod.