bicentennial campground
this is an excellent primitive campground with 3 sites. It has great hiking nearby and an incredible view of the Golden Gate Bridge and the city, and is a short drive into the city. you definitely want to reserve a space well in advance, especially during peak times, although we went in January and walked in and got a space. be warned, at night the fog horns on the bridge are very loud and very close, so bring something to cancel the noise.