Yes, you can camp just over the Golden Gate! Kirby Cove Campground has 4 overnight campsites and 1 picnic area for day use. The campground is set near a coarse-sand beach and offers amazing views of the Golden Gate, as long as it’s not a super foggy SF day. From the parking lot, it's a steep ~1 mile hike down to the campground, but if you have a reservation, you can drive ~0.25-0.5 miles from the campsite. There’s no running water at the campground, so you’ll have to bring your own - bring enough to last your full stay. Firewood must be purchased locally; it cannot be collected at the campsite. Unfortunately, Kirby Cove is not pet friendly. You can reserve a campsite or the picnic area here. If everything is booked up, you can still hike in the area out to Bonita Lighthouse or bike from the Presidio and hang out at the beach.