Choose a heritage visit deliberately
Yanbu's historic district is identified by Visit Saudi as a visitor attraction. If that is part of the reason for your stay, give it a deliberate place in the itinerary rather than assuming it will happen during the transfer from Jeddah Airport.
An airport arrival and a heritage visit serve different purposes. One ends at the accommodation or another agreed endpoint. The other needs a starting place, a visit plan and a way to leave afterwards. Keeping them separate makes both easier to understand.
Define what you will do on foot
A heritage outing may include walking between several places. Decide where the vehicle portion should end and where you expect to be collected later. Do not assume that a car can follow the entire walking route or wait wherever the group finishes.
If you are meeting a guide, use the guide's confirmed meeting point. Transport alone does not establish a guided tour, admission or access to every building you hope to see. Check current visitor arrangements with the relevant venue or organiser before building a journey around them.
Choose the finish before leaving
You might return to the hotel, continue to a meal or finish at another independently arranged activity. Name the intended ending point when planning the transport. This avoids treating a heritage district as a single pickup location when the actual visit may finish somewhere specific.
A short written plan can identify the hotel, agreed visitor meeting point and final destination without trying to prescribe every moment of the walk. That is enough to separate the transport responsibilities from the experience itself.
The result is a more purposeful Yanbu stay. Your arrival transfer has a clear endpoint, and the heritage visit receives the attention it deserves as an outing in its own right.