There is a nice little state park on the water at Candlestick park, called CandleStick state park, check its web site. And its not full except during foot ball games. We have stayed there and its not bad. But there may be others.
You might look in your computer in the Marin area, just north of the Golden Gate.
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http://www.sanfranciscorvpark.com/ is the website of the Candlestick RV Park; it's a private RV park. Candlestick State Recreation Area (in the same general area) offers picknicking and hiking, but no camping.
The San Francisco RV Resort is south of the city. Very convenient short drive into the city and also close to a BART station if you don't want to take your car into the city (parking is expensive). Sites are tight - but you can get an ocean-view site which can be quite spectacular:
Tight-space camping in the Big City
Candlestick RV Park is (obviously) at Candlestick Park, so a bit closer to town. They cater to foreign travelers in rental campers, so offer shuttles/tours into the city. Friendly owners. Avoid this place during football season - not a problem, as they are fully booked for all home games.
The Petaluma KOA is the least convenient location - but better if you want to tour wine country. Old-fashioned campground and impossible to get your dish to lock-on to a satellite due to all the lovely shade trees. They have bus tours of the city from the campsites. Be aware this campground is on/next to a working farm. We stayed there once while they were fertilizing the fields with manure and the stench and flies were a little overwhelming. Barnyard birds cruise through the campground, so that is fun.
(By the way, if you are going to visit wine country, we always try to stay at the fairgrounds in Calistoga for the most convenient place to make day trips with the tow car.)
Taylor State Park off Sir Francis Drake Blvd is across the Golden Gate Bridge. Weekends are reserved, but weekdays were available. At least that was our experience there. It's a very nice campground in an old growth forest. It is a bit of travel to SF because of the local commuting through a few towns, but you are towing a vehicle so it works well. The sites are not huge, but our 24' RV with a towed car fit fine. They had electric on each site, and water near by for a quick fill-up. The dump station was near the entrance to the campground.
If the camp ground is full, they will allow overnight parking in the picnic ground for a nominal fee. We did that our last night after we had to give up our site for a weekend reservation.
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There is no shortage of RV parks, State parks Etc in this part of Calif, it all depends on where you want to go, and what you want to see, its a vary big state. In the summer its hot inland, avg 85* to 100*+ but low humidity, and cool along the ocean 50* to 65* on Hwy 1, and maybe some fog.
Cool Mike wrote: There is a nice little state park on the water at Candlestick park, called CandleStick state park, check its web site. And its not full except during foot ball games. We have stayed there and its not bad. But there may be others.
You might look in your computer in the Marin area, just north of the Golden Gate.
If you stay here, bring body armor and ear plugs...gunfire is fairly common in that area.
I would not recommend that campground.
Most everyone has recommended the Petaluma KOA, and since you have a toad, it would be a perfect location for you. You can either drive across the GG bridge, or take the ferry from Tiburon to the city and walk or use public transportation (think cable cars). San Francisco is a tough town to park in.
"If you stay here, bring body armor and ear plugs...gunfire is fairly common in that area.
I would not recommend that campground."
I agree with this! I pulled in there once on my motorcycle for a rest stop, took off my helmet and put it right back on, YOWIE!, I left quick, I can't imagine trying to sleep there at night with all of the trolls that come crawling out of the bushes along with gunshots echoing.