Share 'Rodeo Beach or Sausalito? to Muir Beach // Ride from Olema back?'

I heard that it was possible to start the hike to Muir Beach directly from the town of Sausalito, is that true?  Would anyone recommend doing that versus Rodeo Beach?  If so, where is the trail head located? Also, can anyone recommend the best (fastest/inexpensive) mode of transportation from Olema back to Sausalito or Rodeo Beach?   We will be taking off in April. Thank you!