HI, I'm from the Bay area and now live part time on an RV and face the same challenge. 2 website might help.
http://freecampsites.net
www.rvparkreviews.com/
right now we are at Oyster Point marina south of SF on the north side and have stayed overnight more than a few times, seems to be cool on weekends at least. You can park in many industrial areas around the bay. We went through downtown Oakland today and just south of Lake Merrit near the freeway was a whole row of RVs parked on the street
Basically the bay area is horrible for boondocking, but if you can move around, you can park in lots of places