We stayed at San Francisco RV Resort - RESORT.
It located in:
They do offer tours and the city bus picks you up at the entrance to the park. They are located about 15 miles from Fisherman's wharf. It is your typical parking lot park, BUT...
If you choose a site that overlooks the ocean the views are FANTASTIC!
Here was the view from our motor home:
Standing just outside in front of our motor home were views like this.
Now for the resort itself. The park facalities where good. But what the hay, you most likely won't be spending too much time at the park anyway.