If it were me I'd go south on US101 and east on CA116, Then Lakeside hwy to 37 through Vallejo to I-80 and towards San Francisco and then turn onto I-780 towards Benicia, Martinez. In Benicia I-780 connects with I-680 and follow that south to Pleasanton and then I-580 toward Tracy. Just before Tracy 580 turns south and connects after several miles with I-5. I've done that several times without problem. That's assuming you are heading south but if you want to head north on I-5 I'd do the same until Vallejo but follow signs to Sacramento.
Bob, Sandi & Marmaduke the Big Pug
SW OREGON 2004 Journey 39K, 330 Cat
If towing: a 2006 Mini Cooper or 1995 Wrangler