The Larkspur Ferry is one of the terminals of the Golden Gate Ferry. I do not see a terminal at Fisherman's Wharf on the
Golden Gate Ferry Terminal Locations.
The
Blue & Gold Fleet has tours, but is not part of the Golden Gate Ferry. It too offers
FERRY SERVICES, and I think maybe there might be some confusion as to its terminals. As you can see from the link, there is none at Larkspur. I may stand corrected, but I think Pier 41 is at Fisherman's Wharf. I have never used the Blue & Gold Fleet, but can say with confidence there are no RV Parks in SAUSALITO or TIBURON. The closest would be Marin RV Park, and it is several miles away.
The next time I go to San Francisco, I will consider using the Blue & Gold Fleet from SAUSALITO or TIBURON to Fisherman's Wharf. That depends on the parking. It would be a new experience for me.
Wayne