Just thought I'd post an update regarding our bridge adventure.
While in Pacifica, we asked for suggestions from the camp host. We were advised that Highway 1 was a more direct route through San Francisco and onto the Golden Gate so that's the route we decided to take.
The city streets were a bit narrow, but the signage to the bridge was spot on. We stayed in the middle lane and had no trouble getting to the bridge. Once on the bridge we did have to stay in the wider curbside lane. (Thanks for that info, f6bits!) We then continued north on Highway 101 with a slight headwind, but beautiful scenery.