big whitey, I was allowed to park at San Quentin because I was an employee. Based on the description of your rig, I too think maybe it is not a good idea to drive in the city. You might consider leaving your cargo rack at home. It will restrict you from many parking opportunities during your entire trip. I have a cargo rack, but soon learned it is a handicap while touring. Camping it is great.
Naio, it has been about three years since I rode the ferry. I question it goes to fisherman's Wharf, but it could have changed. I will see if I can locate a link telling us where it goes. I hope you are correct, there are times I would prefer to go directly to the Wharf from Larkspur.
Wayne