We took public transportation and it dropped us off right in front of the Pier. We then took Lyft back to the hotel.
We parked in a lot across from Pier 35, a short walk away. Cost was $45 for the whole day. It is expensive, but gives you plenty of time to wonder around.
I recommend Uber.
The best is to take Public transportation. You can go more relaxed to the tour and you don't have to think about parking time
There are some public park spaces in front of the pier. Also, there are parking lots nearby.
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