We stayed at the Petaluma KOA--took their shuttle one day and had a great time--especially with a good driver (not me). Next day, we went into to the ferry terminal and took it to SF and then picked up a tour of Alcatraz--great views and great boat ride. Drive back to Petaluma was not bad.
Petaluma is easy to get around town to needed supplies--food, etc. Great Farmers Market in the summer. We would probably do that again. 
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F-250 King Ranch Crew Cab 2012, Single Wheel, 6.7 L Diesel, Transfer Flow Internal 50 Gallon Fuel Tank, Upgraded Ford Software for 50 Gallon tank, 2006 3475Rl with Mor-ryde King Pin, 2nd AC, 2nd Battery, Pressure Pro TPMS, Wet Bolt Shackle Kit
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