I visited Mamshit and Avdat on my trip to Israel in November 2019. Unlike the Biblical Tels, the archaeological sites of the Nabatean towns offer enough of standing remains to help imagine what the places looked like at the height of their prosperity, and in that respect are more visually interesting. Large portions of the sites are still shapeless piles of rocks, but there are also high walls, defined interior spaces, and some structures that survived in reasonable shape. Where the arches survive, they are definitely among the most eye-catching details. And the temples are usually the places where you can find the best remaining decorative details, such as floor mosaics or columns.
Avdat, additionally, sits on top of a high hill overlooking the desert. You can clearly distinguish the actual line of the erstwhile Incense Route across the desert from Avdat terraces, and the wide views are nothing short of stunning. The remains of a wine press outside of southern gates is a fairly unique feature for an archaeological site, which are normally dominated by fortifications, palaces, temples, and bathhouses. The geographical position, the views, and the state of preservation at Avdat combined to make it one of my favorite ancient sites in Israel.
Mamshit is just over an hour away from Tel Aviv by car, while Avdat is another half an hour further south on one of the main routes towards Eilat and the Red Sea. I was one of just a handful of visitors at either one on different mornings. The brochures found at the reception provide all of the information you need, so while I saw people come with a guide I feel like guidance is optional; at Avdat, you can watch a short orientation movie at the visitor center, which will further help a self-guided caller. An hour is more or less sufficient to explore each site, although Avdat has more points of interest that may entice less casual visitor to spend more time there. It should also be noted that the visitor center in Avdat is located at the foot of the hill far below the town remains; you can ascend to the site on foot if you so desire – or ask for a parking ticket for the upper lot, included in the price, which will allow you to drive up the hill and park right by the site.