Is there a free parking available?

There is metered street parking directly in front of the museum, but no parking lot specifically for the museum

There is a large metered parking area close to the museum, but no free parking. There is a free Pesidigo shuttle from Embarcadero, which helps especially if you go by BART.

There is substantial parking parking, but it is metered. I don't remember the exact price, but it is not expensive in San Francisco terms.