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san francisco - limited time with a 3 yr old, what to do efficiently!?!?

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We are visiting friends in Burlingame, Foster City and Belmont. We are staying at the Villa Montes in San Bruno. My husband and I will be travelling with our 3 year old daughter. Our only free time to do any activities (other than visiting the above-mentioned friends) is Saturday after 4pm, and Sunday between 12:30/1pm and 6:30pm. We will have a car as we are driving from Los Angeles.

These are places I THINK we might want to try to get to (but not set in stone):

Fisherman's Wharf & Pier 39
Union Square
Golden Gate Park
Golden Gate Bridge
Ride a Cable Car

Are we crazy to drive to the city twice - both saturday night and sunday during the day? is there anything to do south of the city with a 3 yr old, given the fact that we're staying in San Bruno and might not want to drive to City TWICE.

I was thinking of driving to Union Square saturday night and taking Cable Car to Fisherman's Wharf/Pier 39. Or would the reverse be better in terms of parking?

And then Sunday during the day Golden Gate Park and Golden Gate Bridge? (gotta get back to Burlingame for late dinner).

Exploratorium is a back-up for if the weather's bad sunday, but it's expensive. and the aquarium would not interest any of us much.

any suggestions welcome, or even on HOW to make MY ideas work most efficiently in terms of transportation/quickness/parking!!

thanks in advance...

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