We live in the Bay Area and recommend that you do not drive your RV across the Golden Gate Bridge or in SF. We recommend that you take Hwy 101 to I-680 in San Jose. Stay on I-680 to I-780 (Benicia area) to I-80 (Vallejo) to Hwy 37 to Hwy 101. You will advoid the stress of driving up the Penninsula and the streets of SF.
Recommended places to stay: Flying Flags in Buellton, Pismo Coast Village in Pismo Beach, Marina Dunes in Monterey (warning, they are pricey), Petaluma KOA (north of SF-also pricey), Napa Expo. The Napa Expo people are pretty nice and I am sure they will waive the age restriction.
Have a great trip!