Once in Israel, are tourists allowed to exit to the areas outside of the Israeli responsibility (Palestinian areas)?

My understanding is hazy, but I've been told that to get from certain parts to others, like Jerusalem to Bethlehem, you may need to cross non-Israeli-controlled areas. Does this mean you'd need your passport and a different visa, or can you just cross through these zones if you're not from the area (ie just a random tourist from far away)?

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Once in Israel, are tourists allowed to exit to the areas outside of the Israeli responsibility (Palestinian areas)? - Automobiles parked on asphalt road near famous historic stone fortification located on grassy Signal hill in nature against cloudy sky

Once in Israel, are tourists allowed to exit to the areas outside of the Israeli responsibility (Palestinian areas)? - Exterior of contemporary building with glass mirrored walls located in city against colorful sky at sunrise time

Israeli Palestinian conflict explained: an animated introduction to Israel and Palestine

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Images: Vanessa Garcia, Rafael Cerqueira, Erik Mclean, Brett Sayles

Once in Israel, are tourists allowed to exit to the areas outside of the Israeli responsibility (Palestinian areas)?

Pictures about "Once in Israel, are tourists allowed to exit to the areas outside of the Israeli responsibility (Palestinian areas)?"

Israeli Palestinian conflict explained: an animated introduction to Israel and Palestine

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