Mt. Tamalpais has four slabs for climbing, ranging from 25’ to 45’. Most people use a top rope, but you can also do a traditional climb on the northern formation. You can read about some of the climbs on mountainproject.com
From the 101 north of San Francisco, exit Stinson Beach/CA 1. Turn left (West) on Shoreline to continue on the 1 and turn left at the second light to continue on Shoreline. Turn rt on Panoramic Highway, rt on Pantoll Road, rt on East Ridgecrest. Park in the parking lot. From the parking lot, hike the plank trail below (east) of the lookout tower. You will see the rock formations below the trail.