This really does depend on the sea conditions but, generally speaking, the single-hull Armas is more stable than FOExpress (~2.5 hours) which is a catamaran.
Yep, you can buy tickets on the day but the stretch of sea between Tenerife and La Gomera is nearly always much calmer than that between La Gomera and La Palma. You can also travel with suitcases.
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