You won't like the prices for docking at the bay area marinas.

The nicest place to pick would probably be the SF Marina YC or Sausalito.

Then Alameda or Berkeley.

I don't know what their live aboard policy is though. I knew a Judge who had a real nice 65' yacht berthed in Sausalito and he lived on it for awhile from time to time

In Sausalito back in the early 80's out in Richardson Bay the bohemian artists had the "Anchor Outs", boats and houseboats that simply parked out in the bay for free.
It drove the Sausalitans crazy because they dumped their sewage directly into the bay...they tried to get them out for years unsuccessfully, they were always there, I don't know what eventually happened with that

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1991 560 SEC AMG, 199k <---- 300 hp 10:1 ECE euro HV ...

1995 E 420, 170k "The Red Plum" (sold)

2015 BMW 535i xdrive awd Stage 1 DINAN, 6k, <----364 hp

1967 Mercury Cougar, 49k

2013 Jaguar XF, 20k <----340 hp Supercharged, All Wheel Drive (sold)