There were 4 in our group and we were in a comfortable van with an additional 4 -6 guests during most of the tour. We wound up being great friends with the ones we met on the van during the tour.
Our driver picked us up promptly at the meeting place just across the street from our hotel. The van was clean and comfortable. The driver/ tour guide was friendly and informative. We stopped at a few places on the way to Muir Woods during the morning portion of the tour. The driver was very accommodating in taking photos of everyone at the Golden Gate Bridge. He told us information about the area, the building of the bridge, Sausalito, and the area surrounding Muir Woods Park.
We were given 90 minutes to tour the Muir Woods, which is how long the park service allows vehicles to park there, from what I've read. The park is amazing and peaceful and was about the right amount of time to enjoy the area. We left Muir Woods and drove into Sausalito and had about 50 minutes for lunch. He recommended a couple of places right on the harbor and we had hamburgers at the hamburger restaurant he mentioned. They were HUGE and delicious! Plenty large enough for a couple to share! We were driven back to our pick-up point and were told our afternoon driver/guide would pick us up in 90 minutes. Enough time to go back across the street to our hotel, rest a bit, etc, and be ready for the afternoon tour.
Our afternoon driver arrived promptly in a different van, but equally as clean and comfortable. He was friendly and super interesting and funny as well. He showed us everything a tourist would normally see in SF for about 3-4 hours. He enjoyed his job and it certainly showed. We saw the wonderful neighborhoods of SF, as well as the beautiful Golden Gate Bridge, the beautiful Palace of Fine Arts. We toured until it was dark and unable to see any more of the neighborhoods.
It was a wonderful tour, both morning and evening and while maybe a bit pricey, it allowed us to see so much more than we could have ever seen in the limited time we had in SF.