Yacht clubs are private unless you belong to one with reciprocal privileges. The South Beach Yacht Club and Golden Gate Yacht Clubs are easy with reciprocals. St. Francis is extremely exclusive.
In all cases you aren't allowed to wander on the piers next to the boats; those ramps are locked and only boat owners have keys. But you can see a number of sailboats either along South Beach, Gashouse Cove (near Fort Mason) or the Marina.
I'd say the larger boats are near St. Francis ... on Marina Blvd from Scott to Broderick However, I wouldn't say there are huge "yachts" there ... wait for America's Cup in 2013!
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