We booked the 5-hour tour ($69 adults) for our first full day in San Francisco. This turned out to be an excellent way to get to see the main sights before exploring further on our own. We had a first-class guide (Dennis) who gave lots of information about the city.
We met at the Ferry Building, boarded our small tour bus (there were about 20 people on this tour) and completed the itinerary as advertised. We finished by going over the Golden Gate Bridge to Sausalito, where we had lunch (you can take a packed lunch or but lunch there), and then we returned by ferry to the Ferry building. There were plenty of opportunities for bathroom stops.
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