I hate driving in SF. Parking in SF is a nightmare. Many of the streets are one way, and making a left turn is prohibited in most commercial areas. Bay area drivers tend to be awful, and the cyclists are frequently worse. BART is good, Muni is good, taking a cab is usually fine, and the city has a footprint of only 5 by 8 miles so walking is often the best option, although some of the hills are pretty steep.