City on the other side of Marin City, California?

I live in Utah, but a while back my parents and I drove to San Francisco. We crossed the Bay Bridge northwards, then turned off a road to the left of bridge in hopes of finding a look out, picture area, but got lost on a small road that winded behind the mountains. It took us to the cutest little town where it appeared military things happened decades ago. It was a really cool town. I never found out the name of it, if there is one. If ANY ONE has ANY idea of what I'm talking about, please answer! I think the little town (facing north) is on the left side of the mountains from Marin City. If you curve around far enough, you can sort of see the left side of the Bay Bridge (still facing north) ANY information would be great!