San Francisco Camping
Two choices: KOA in Petaluma or San Francisco RV Resort in Pacifica (expensive). These are the best closest choices. Call to see if still they offer transportation to SF. Treasure Island RV park in South San Francisco (not on Treasure Island) is a mobile home park that takes RV's. There are very few places that you might be able to park a rig in SF and I wouldn’t advise it for most rigs. For vans and TC’s parking at the Presideo, Crissy Field and Fisherman’s Wharf are possibilities.
I wouldn't consider Candlestick Park in Hunters Point because of the area.