Word to the wise. Do NOT take your trailer into SF. Lots of one way streets, double parking everywhere, aggressive drivers, aggressiv meter maids, and mind numbing traffic. Do NOT stay at the RV park near Candlestick Point. That's where the old 49er stadium used to be. You take a wrong turn coming out of that place and you'll end up in the ghetto inside a one exit only low income drug infested housing development. I would stay well outside the city - somewhere south of South San Francisco. Then park your truck at a CalTrain parking lot and take the CalTrain into the city. It'll let you off at the 4th and King St, in the South of Market area of SF. From there you can Uber it to wherever you want to go, or you can take public transportation. Don't bother trying to drive and park in the city. The parking garages are super expensive. It's so much easier to just use Uber or a cab.
For the Alcatraz tour, you can get off the train at 4th & King. Then walk east on King right past the Giants baseball stadium, and then onto The Embarcadero. Just walk along the waterfront until you get to the Ferry Building. The Alcatraz Tours are right next door or right there at the Ferry Building. Be sure to spend some time noshing at the Ferry Building. There's a bunch of great eateries inside.
Bring warm clothes. The ride across the Bay is windy and can be chilly. It's best to layer your clothes because it can be cold to hot in the same day. If the fog rolls in, it'll happen sometime after about 4pm. But usually the waterfront area is pretty clear.
From the Ferry Building, it's an easy walk to the Fisherman's Wharf area.
Watch out for pick pockets if you wait for a cable car at the cable car turnaround.
If you have the time, it'd be fun to visit Golden Gate Park, the Steinhardt Aquarium, the DeYoung Museum, the Museum of Modern Art, and it's always fun to stroll down Union Street between Fillmore and Gough.
If you're at Fisherman's Wharf and you want to get to North Beach, you can walk up Columbus Avenue or Uber it. Make sure you grab a cappuchino at Cafe Trieste.
If you happen to visit the Castro area, there's a restaurant on Market, about two long blocks west of Van Ness. Have the whole Roast Chicken with baked bread and currants. It's awesome. They have a beautiful copper lined bar. Be careful walking around Market St. It's a rough area, especially around the United Nations Plaza.
Have fun! Feel free to PM me if you have any questions. I grew up in SF.