Excellent ride back to shore. Sausilito is incredible to visit on bikes. Lots of great places to eat from SF you can take ferry to ride bike through golden gate bridge.
We took the blue & gold fleet back to SF. it was not bad, very organised. they let a batch of people aboard first then a batch of people with bicycles then a batch of people again and then cyclist with bikes again. took turns to enter. no extra charges for bikes which is great!! there is a limit of bikes to go aboard on each ferry so better be early.
The place is alive with so many people people enjoying their vacation or a weekend with a punch of hot weather.
Easy & convenient. Paid parking adjacent. Mainly designed for commuting to and from the city, can get very crowded during the height of the tourist season. There's no building, FYI, it's just a landing. Oh and only two (Golden Gate ferry) ticket machines, those also get busy during peak hours. Blue and Gold you buy on-ship, I believe.