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Jyutping zi6 zo6 jau4
Pinyin zì zhù yóu

Definitions (Wiktionary)
  1. verb
    to travel independently, without following a tour group
Definitions (兩岸三地生活差異詞語彙編—Two Shores Three Places)
  1. 觀光旅遊住宿:臺
    自主旅遊、自助旅遊、自助行
  2. 觀光旅遊住宿:陸
    自助遊