If you really want to go sight-seeing in a city then invest in a tour guide.  While visiting San Francisco we chose Dylan’s Tours and spent six hours on “The Famous Tour” with our guide, Julio, and he did a great job.  It’s a fun, intimate, and informative experience through the unique neighborhoods, Muir Woods and Sausalito.  We made stops at the Golden Gate Bridge, Twin Peaks, Haight Ashbury, Mission District, Chinatown, Pacific Heights and more.