Ben and I did a one-night trip camping in Haypress campsite in May 2024. We took the bus to the start of the Golden Gate bridge, endured the noisy walk across the bridge, and climbed into the mountains. We took a long route through the thick fog to the campsite, passing by Rodeo beach. The campsite was nice and very lively, with a toddler birthday camping trip happening. The next day, we did a day hike to Pirate’s cove, which was a beautiful hike along the coast. We then got our bags and hiked into Sausalito to take the ferry back. The highlights for me were probably the Pirate’s Cove hike and a swing on the descent into Sausalito. Marin Headlands is great and very close to SF, but the campsites need to be reserved three months in advance, requiring you to plan far ahead.