I've had no complaints about the domestic terminal at SFO. The traffic configuration around it seems to change everytime I've been there, but the Samtrans bus makes that easy. Not sure how BART is. The new airport train to car rentals is horribly slow, but it still beats the bus. The UA section of the terminal is modern, and I've never had much of a security wait. HP was a different story, though.

I'll always fly in to SFO, even when going to the southbay, just to avoid the nightmare of SJC.