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san francisco with parents

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I apologise in advance for a question on where to stay but I have read so many posts and cannot find the right answer. Many votes for Union Square, F/Wharf, Embarcadero AAhh!

We have 2 and a half days in SF in July and travelling with 70yo parents. No car.

Our wish list is.
Tour Alcatraz
Cross the Golden Gate Bridge
Tea in Sausalito
Ride the Cable Cars
See Lombard Street and Ghirardelli Square
Crab at Fisherman's Wharf
Alamo Square

Not overly interested in shopping...and parents are not particularly into fancy restaurants so a few hours in Union Square to look around would be enough. No need for museums etc...just the quintessential tourist run through San Francisco. If this was your list would you choose Fisherman's Wharf even though many say it is overly touristy (which of course we are!) or Union Square?

Thank you.

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