To fully appreciate the bridge and all it encompasses, one needs to either walk across it or cycle across it...driving across it, doesn't allow one to see its majesty from various perspectives. Additionally, the views back into San Francisco on one side and out into the bay/Marin Highlands on the other are truly magnificent.
Bikes are easy to rent, and there are wonderful bike/walking paths up to the bridge from the city. One fun trip that many do is to rent a bike, cycle across the bridge and into Sausalito. From there you can take the ferry back to the Ferry Building or Fisherman's Wharf after spending time in many interesting shops or nice restaurants.
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