Mill Valley's compact downtown and close access to coastal and forested landscapes make it ideal for Class B travel. Narrow streets, convenient parking, and nearby trailheads favor nimble, van-style rigs that can tuck into small lots and pullouts. A self-contained van lets you sleep comfortably, cook on the road, and change plans without the logistics of larger towable setups. The combination of paved byways and short scenic spurs gives you the freedom to sample beaches, redwood groves, and ridge-top viewpoints with ease.