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Just across the iconic Golden Gate Bridge lies a coastal gem that feels worlds away from the bustle of San Francisco. Welcome to Sausalito—a bayside town that charms with its waterfront views, creative spirit, and laid-back Mediterranean vibes. Whether you’re visiting on a full-day adventure or a half-day getaway, a Private Muir Woods Tour from San Francisco isn’t complete without a scenic stop in Sausalito.
Let’s explore what makes this seaside escape so unforgettable—from floating homes and fresh seafood to epic views and cultural treasures.
The name Sausalito comes from the Spanish word “Saucelito,” meaning “small willow grove,” inspired by the native willows that once flourished along its streams. But don’t let the name fool you—this little town has a big story.
In the mid-20th century, Sausalito transformed from a shipbuilding hub during World War II into a haven for artists, bohemians, and dreamers. Decommissioned materials from warships found new life as houseboats, giving rise to the now-famous floating neighborhood that dots Richardson Bay.
Today, Sausalito retains its creative roots while offering upscale dining, boutique shopping, and jaw-dropping views of San Francisco’s skyline.
What makes Sausalito such a magical addition to your Private Muir Woods Tour from San Francisco? For starters, it’s the complete opposite of the towering redwoods you just visited—sunny, sparkling, and soaked in seaside charm. It’s the yin to Muir Woods’ yang.
Here’s why you’ll love adding this town to your private Jeep tour itinerary:
Relaxed Atmosphere: After a nature walk under ancient redwoods, Sausalito is the ideal spot to slow down and sip a cappuccino by the water.
Incredible Views: The San Francisco skyline, Angel Island, and Alcatraz all unfold like a postcard across the Bay.
Local Culture: You’ll find art studios, historic sites, and quirky boutiques around every corner.
Dining Options: Fresh seafood and waterfront patios await, whether you’re craving oysters or wood-fired pizza.
The houseboats of Sausalito are more than just homes—they’re works of art. Some resemble pirate ships, others look like funky cabins, and a few have gardens growing on their roofs. Originally home to artists and creatives post-WWII, this colorful community is now one of the most photographed parts of town.
Take a stroll along Gate 5 Road and Liberty Dock, or ask your Jeep guide to point out the best spots for snapping photos.
Fun Fact: Otis Redding wrote “(Sittin’ On) The Dock of the Bay” while staying on a Sausalito houseboat.
Operated by the U.S. Army Corps of Engineers, the Bay Model is a hidden gem that science lovers and curious kids alike will adore. It features a massive, functional scale model of the entire Bay and Delta system, once used for research and now open to the public for free.
Explore interactive exhibits on tidal flow, sediment, and sea-level rise—and see why this spot is a favorite for locals and engineers alike.
Sausalito’s main street, Bridgeway, hugs the waterfront and offers everything from art galleries and designer boutiques to cozy wine bars and gift shops. It’s the perfect place to wander after lunch, grab a locally made ice cream cone, or find that one-of-a-kind souvenir.
Whether you’re in the mood for a crab roll, a cappuccino, or fine Italian fare, Sausalito’s waterfront restaurants serve up flavor with a view. Some top spots include:
Scoma’s of Sausalito – A seafood institution with patio dining over the water
Bar Bocce – Pizza, bocce ball, and fire pits in a casual marina setting
The Spinnaker – Iconic for its floor-to-ceiling windows overlooking the Bay
Want to keep things simple? Pick up some gourmet snacks and have an impromptu picnic on the shoreline!
With San Francisco Jeep Tours, you won’t need to worry about driving or parking. Your private guide handles all the details—from navigating the Golden Gate Bridge to finding the best scenic spots.
Our two Private Muir Woods Tour from San Francisco options both include Sausalito:
Duration: 3+ hours (morning or afternoon)
Highlights: Golden Gate Bridge photo stops, towering redwoods, charming Sausalito
Group Size: Up to 6 guests per Jeep (ideal for 4 adults + 2 kids)
Perfect for families, couples, or friends looking to escape the city and soak up nature and coastal charm in one unforgettable outing.
Duration: 7+ hours
Highlights: Full city tour of San Francisco, Muir Woods, Golden Gate Bridge, and Sausalito
Group Size: Up to 6 guests per Jeep
This all-in-one adventure is the best way to see everything—from twisty Lombard Street and Painted Ladies to fog-kissed redwoods and harbor views in Sausalito.
A Tour We Think You’ll LoveEmbark on a private Jeep tour that takes you beyond the city and into the awe-inspiring beauty of Muir Woods. Walk among ancient giant redwoods, explore the charming waterfront town of Sausalito, and capture unforgettable moments at the Golden Gate Bridge.
Skip the crowds and make your San Francisco experience truly unforgettable.
Book your Private Jeep Tour to Muir Woods today! – Reserve your Jeep tour today!
Sausalito’s original name was Rancho Saucelito, part of a Mexican land grant in the early 1800s.
The town was once home to famed marine artist Charles Rollo Peters and countless bohemian creatives.
Sausalito Art Festival, one of the oldest and most prestigious in the country, draws artists and collectors from around the world each Labor Day weekend.
Robin Williams was a longtime resident and a frequent figure around town.
Just 15–20 minutes by Jeep across the Golden Gate Bridge—plus you’ll enjoy scenic photo stops along the way!
Absolutely! Our Private Muir Woods Tour from San Francisco includes both. You’ll explore the redwoods and still have time to enjoy lunch or shopping in Sausalito.
Sausalito is often sunnier and warmer than San Francisco, thanks to its location just outside the fog belt. Bring a light jacket, just in case!
Whether you’re admiring houseboats, watching sailboats glide across the bay, or enjoying a scoop of gelato by the marina, Sausalito is a dream destination you didn’t know you needed.
It’s more than just a stop—it’s a whole vibe.
So, next time you’re planning a Private Muir Woods Tour from San Francisco, be sure to include this bayside treasure. From nature lovers and photographers to foodies and families, Sausalito welcomes everyone with open arms and ocean breezes.
Ready to walk among giant redwood trees and then unwind by the Bay? Book your Private Muir Woods Tour from San Francisco and let our expert guides take you on a one-of-a-kind journey through redwood groves, across the Golden Gate, and into the charming town of Sausalito.
Your California adventure begins here.
Photo: Frank Schulenburg, CC BY-SA 3.0, via Wikimedia Commons
