Easy pull out when coming up the road from the muir woods, you can make a left turn into the spot while going down hill, just gotta be more careful,
for visiting Muir woods, read below
****VERY IMPORTANT PARKING UPDATE, you have to reserve a spot (for fee) or take the shuttle, please check out the link below, if you are more of a hiker you can always hike in from the top for free, from the pantoll area (parking fee) or park along the road going up to pantoll, there are trails going down from there and road side parking, You can always come down bootjack and other trails for free, fee only charged for coming in the main entrance. , check out the link for the muir woods http://www.nps.gov/muwo/index.htm .
One of my favourite hikes from the muir woods, 13 miles and 3600 feet elev. gain, going up Bootjack trail to Pantoll, Old Mine trail, Dipsea Trail to Steep Ravine Trail, Steep Ravine trail down all the way to the Rocky Point Beach (where one of my other Caches hides, accessible at low tide only) way back Steep Ravine Trail to Pantoll (one of the nicest trails in this area) Pantoll down to Muir Woods via Ben Johnson. (see Mt Tam Map link below) and not to forget there are some caches to be found along this route and many more on Mt Tam
There are many more hiking options from there, like going to the top of Mt Tam
link to muir woods website https://www.nps.gov/muwo/index.htm
link for mt tam map go to page 5 http://www.parks.ca.gov/pages/471/files/MountTamalpaisSPFinalWebLayout110816.pdf
The Muir Woods are usually very busy with ppl, but once beyond the paved trails it does get quieter, nicest trail out of the muir woods in my opinion is Boot Jack Trail.
And last if you are up for a 15 miles multi cache which is really awesome (thanks to Lab E Rinth) check this out, GC19KQM
link https://www.geocaching.com/geocache/GC19KQM_opening-the-mountain