Kirby Cove Road in the Marin Headlands offers a scenic mile(ish)-long trail that descends through a grove of cypress, eucalyptus, and pine trees to reach Kirby Cove Campground and beach. The road provides stunning views of the Golden Gate Bridge and passes by Battery Wagner, an old artillery battery. Visitors can walk the trail, picnic on the beach or bluffs, but no pets are allowed at Kirby Cove. Remember to bring your own water, stay on the established trail, and be cautious of poison oak. It's a great spot for a day trip or camping adventure with breathtaking views and coastal charm.

Pet-friendly: No, pets are not permitted.

Soft adventure: Yes!

Seasonality: All seasons

Fee: Free