To add on to Kayla's answer, another option is to add the drive from Mendocino
to San Francisco. Take a detour and stop at Santa Rosa - go for the food and wine. Visit the Charles M Schulz Museum
in Santa Rosa if you're a fan of Charlie Brown and Snoopy. Then on to Bodega Bay
for whale watching (peak season is from January to May) and seafood, before driving across the Golden Gate Bridge
into San Francisco.
I know you asked about scenic drives to San Francisco but if you're looking to explore San Francisco by car, you can follow the 49-mile San Francisco scenic drive. Download the map here
. You can run into traffic problems and bear in mind that not all parts of the drive are scenic.