Can I park a RV?

You need to purchase parking in the parking lot and check with them parking permits are purchased online I did not see any RVs while I was there but I'm sure that they must have some RV slots available so purchase the ticket to park beforehand purchasing the entrance to the woods is not a problem but parking is tight

Yes, but need reservation in advance.. There's no internet so make sure to reserve before you head out..

Park in Sausalito and take the shuttle.