I did this tour booking on TripAdvisor with Must See tour company.
Our guide Roman, who's actually German, had a great sense of humour and kept us informed and entertained through the trip.
I absolutely loved Muir Woods. I wished I could have spent more time there.
Sausalito is only necessary for a lunch stop, I guess.
Nothing there really except some interesting shops.
Alcatraz was, to me, not so interesting.
There are definitely better things to do in San Francisco.