We just did SF in early august. Stayed at the petaluma KOA, about 30 minutes north of the city. We took the ferry in one day from Sausalito and drove the Golden Gate the next day. Did the duck tour, which was very informative, cable car, fishermans wharf and pier 39. We had our 3 kids (12, 10, and 8) and it was fine. Street entertainers were a blast. All very polite and appreciative of any support. Kids even got pictures with some of them. Alcatraz tour was booked 3 weeks out, so if you want to do that, all now and see what is available. although it's going into the off season now, so it may not be as long of a wait.
2014 Berkshire 390BH-40
2012 Chevy Equinox - TOAD