I've been wondering this too. Caloso -
this route might be the answer to your question. Coming from Sacromento I'd take the 5 down to 580 and get over to Livermore.
I make it out to Marin on a regular basis but I haven't taken BART or driven out to the East Bay yet. I don't always have my truck in the city, so taking BART would be preferable. Anyone have a good route accessible from a BART station? I think Dublin/Pleasanton is the closest I can get to the linked route by BART