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San Francisco-Route & Parking Advice Needed

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We will be coming into San Francisco on a Thursday across the Bay Bridge from Berkeley(in a rental car). My teenage daughter wants to visit the City Lights Bookstore, Beat Museum, etc. as she is preparing a research paper on the "Beat Movement". Wife would like to ride down Embarcadero & maybe stop at the Ferry Bldg. for a meal & a wander around. Then we plan to make our way over to the Cliff House(for the Camera Obscura) and then down to Half Moon Bay, making stops along the way to HMB if there are good photo ops. I have looked at Google maps & am thinking my best bet is to come across the bridge, get on Embarcadero and, after making our stop at the Ferry Bldg area, take Bay St. to Columbus Ave. for the City Lights & surrounds.

Should I then take Columbus Ave./Montgomery/Market to Geary & travel on Geary over to Point Lobos & the Cliff House? Does this sound like a good route? Also, didn't see an exit for Embarcadero off the Bay Bridge-could someone tell me the easiest way to get to Embarcadero?

I could also use some advice on where to park for the City Lights area and the Ferry Building area.

Thanks in advance for any help.

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