Easiest way is to catch an uber from SFO airport. Did it last week only. Costed us $80.
You can take Caltrain from SF to Santa Clara. From Santa Clara to Gurdwara is near, you can take uber or VTA bus. http://www.caltrain.com/schedules.html
Sat sri akal! Welcome to USA.you can drive a rental car or take an uber .it will take you 35 mins to reach gurudwara!
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