It's best to explore Munich on foot or even better by bike. Within the city center, you can reach any place in about 30 minutes (city center -> city center). Well, depending on your condition, the bike, and the headwind.
It's clean, you move in the fresh air, and you can discover more. No long parking searches, no too narrow parking spaces, and you park right at the door. The city center has a good network of cycle paths.
Some hotels offer their guests bicycles during their stay. If not, here are two tips:
a) https://www.mvv-muenchen.de/mobilitaetsangebote/radfahren/index.html
b) https://www.werkenntdenbesten.de/fahrradverleih/muenchen
