Faffing.
It's of constant surprise to us residents how "outsiders" are scared of using the buses and overland trains. That's why the Mayor rebranded them.
Getting the underground when you there is a steam train (or horse drawn bus) available is terribly common and something that only a tourist would do.
If you wish to take in Madame Tussauds and come back with a fake Paddington by all means go down into the tunnels.
But a city gent like myself...
Don't tube it.
Richmond to Clapham Junction SW Rail. Get a fast connection that doesn't stop or stops once. That's 10 minutes at most.
It's the train to London (Waterloo) they all stop at The Junction.
Then get the overland (Platform 1) to West Brompton (nearest) or Imperial Wharf. Very 15...