Kirby Cove Campground is a small, scenic option close to Sausalito with dramatic harbor views—access is steep and campsites are primitive, so it suits nimble Class B rigs. Pantoll Campground and Bootjack Campground offer forested sites and short drive access to trails; both are primarily walk-in or small-vehicle sites without hookups but are reachable by most drivable RVs. For full hookups or pull-through sites, commercial RV parks a short drive from Sausalito provide those amenities, and fuel and supplies are readily available in Sausalito for quick top-offs. Plan ahead for size limits, one-way access roads, and reservation windows when choosing a site near Sausalito.