Re: Best Sausalito Marina for Overnight
Sausalito Yacht Harbor (415-332-5000) is right downtown in the thick of things. Short walk to most of the tourist section of Sausalito.
Schoonmaker Point Marina (415-331-5550) is the next marina north that has guest berthing (at least that I am aware of) and is still a pretty short walk to the "downtown" area. Closer to things like the Bay Model if that interests you.
Several more as you go further north up Richardson Bay, but the walk to town gets longer.