So we tried to visit Muir woods but apparently everyone else was also, so we had to bypass the area. In a fog of disappointment we stumbled upon Muir Beach instead! This was a lovely beach inlet which also featured some trails to a great view.
Another Dad Wolfersperger recommendation was Marin Joes restaurant. We ordered a monster burger each – they were so big I was able to save some for dinner that night in the woods.