If you take the West side of the bridge, here's an alternate way to get into Sausalito:
http://www.gmap-pedometer.com/?r=2504211
It is more scenic and with less traffic than taking Sausalito Lateral. The only potential issue is if you were to to return from Sausalito on this route the climb is a bit steeper. It's the same amount of vertical (230 feet) but you get it done in a shorter distance.