6-hour excursion.
In Muir Woods you will enjoy the redwoods, characteristic trees of California, meet the very green and beautiful landscape of the park.
Then you will visit Sausalito, you just have to cross the Golden Gate and get there. Just for the view of San Francisco from there it would be worth the trip, but Sausalito is also incredible, with many premium stores, many bars and ice cream parlors where you can shop or have a drink.
It also offers a unique view of the Golden Gate from an observation deck.