Somewhat unique situation here. My family (excluding me) will be arriving into Terminal G from AKL on UA. They will go through immigration (all are Global Entry), and then pick up baggage before going through Customs while following the Connecting Flights signs.

I will already be in Terminal 3 for a SFO - EWR flight that my family will join me on. My goal is to meet my family right after they exit Customs in the Transfer area in G. My understanding is that this would be the baggage reclaim area (where they drop off the bags for the domestic connection to EWR). Is this correct? Would I be able to walk from Terminal 3 into the bag reclaim area in Terminal G and meet them at that spot? It seems technically I should be able to since it is outside Customs. Where in Terminal G is the bag reclaim area (closest to what gate)?

Trying to plan this out in advance so I dont have to run around without a plan on day of.