There is a ferry that leaves on odd days from Hurghada to Sharm. It is really easy to buy tickets at one of the travel agencies in town like Thomas Cook for the same price as the terminal and for less hassle. I was on motorbike so cant comment on height, but I seem to recall a few 4WDs on board. Considering the price of fuel in Egypt I would be tempted to drive unless you are in a real hurry as the ferry was relatively expensive for vehicles.
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