You'll need a car to see the redwoods. I prefer Big Basin or Portola to Muir if you want to enjoy less crowded nature, but it's a further drive (though very scenic). If you do Muir, hiking off the main paved path is less crowded though you will want to brave the crowds to see some of the bigger trees.
We drove to Muir Woods. We did have to park and walk but it wasn't too bad. After we left, we were driving to Napa and saw a sign for Muir Overlook, we pulled in on a whim and since it was high up, it had some gorgeous views
The first time I did it, we took a tour bus out of the city. That was the PERFECT way to do it with my mom and aunt, who didn't need to be hiking up the mountain from far-away parking. They dropped us off right at the gate. On subsequent trips I've driven and left early, or if the parking is filled up (which it often is), there was a shuttle bus from Hwy 1 up the mountain. At least they had a shuttle several years ago. I really like the DipSea cafe for breakfast before hiking over there, if you'll be driving or taking the shuttle (cafe is near the shuttle stop). Long lines though, so early is better on that too.
Do you happen to remember what tour you used? I'm going to be there in June with DH, and because he will be there for work, I'm going to be doing a lot of things on my own during the day, and I'm getting a little overwhelmed looked at options. We don't plan to have a car, so a tour sounds perfect for me alone.
(Sorry for the hijack!)
ooo, I'll be back in the Bay Area inj June! Maybe we can gtg!