Bernal Heights Park is a gem located inside SF. It is about a mile hike (up and down) from the multiple entry points. You can park your car at nearby and hike to the top. It used to have a beautiful swing which city took out (because of COVID-19). It is still worth to look at city in 360 view. Simply spectacular.
It is located at:
10 Bernal Heights Blvd, San Francisco, CA 94110
Following is better park area:
3400-3416 Folsom St, San Francisco, CA 94110