The Hike
First, you take the ferry from Tiburon, so there is some driving and coordinating with the ferry schedule. Once you are on the island, your campsite is a mile or so away mostly on paved roads. Hiking all the way around the island is five miles, so you can’t go too far.
You’ll want to hike to the the top of the Island, Mount Livermore, but do that when it isn’t shrouded in fog. I’ve been to the top in the fog and it is amusing, but the views aren’t that great.