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Having recently returned to the bay area (and working/parking in SFO) I now remember why I love the bay area and yet dislike the city.. It's filthier than ever. I park in between homeless tents and navigate my way between human excrements on the sidewalk to get to work - and it's not the worst area of town (mission)...
By and large the city is not dangerous. You will just see more or less junk / weird stuff / weird folks depending on where you go. The BART station nearest me is pressure-washed everyday because people defecate on escalators (think about that for a minute) and pee on walls. They've developed a paint that "bounces" pee at you better to prevent that. I kid you not...
Long response short: Take the Bart if you have to, but I'd borrow the car and drive to the touristy area instead - it's really not hard with a phone and a Waze app, pay the $20 parking and avoid the mess if possible... Failing that take a cab. Yes restaurants wise the city is amazing, but you should book yesterday if you plan on securing a normal dinner time at a nice place. SF is surprisingly small, and I would not be scared of driving it outside of 5-6PM commute times... You could drive to twin peaks, do the wharf, take the GG bridge and climb the view point on marin headlands, check out sausalito or Tiburon (areas much cleaner than downtown)- get a car is my advice...
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