How is this even possible? Is it gross negligence on the part of the pilot, a systems problem, or something else? (IANAP)
Listening to the LiveATC clip, the important bit is the phrase "visual 28 right", meaning the Air Canada pilot had been assigned a visual approach to runway 28 Right. The clip sounds like it's from Tower, so you're not hearing the point where the pilot was assigned that approach (that would've happened with Approach).
A visual approach is pretty simple: The controller sets you on a heading & altitude. Then, the controller confirms that you have the runway/field in sight, as well as any other air traffic that may potentially pose a conflict. Once the pilot verbally confirms those things are in sight ("traffic in sight" / "field in sight"), the approach controller will clear the pilot for the "visual runway XXX approach", also issuing appropriate warnings regarding wake turbulence.
Once the visual approach has been cleared, and the pilot has acknowledged, it is now the pilot's responsibility to navigate the plane to the runway, while keeping the plane clear of the traffic that has been pointed out to them.
If the pilot were assigned an ILS, LOC (localizer), LDA (localizer-type directional aid), or RNAV (area navigation) approach, that approach would have included a lateral component, which would have ensured that the plane was lined up with the runway, and not the taxiway.
So, why do a visual approach, when you have so many other options? Mainly because it allows more planes to be put into the same space. If a plane is on a different approach, or is enroute, or is being vectored by the controller ("turn right heading 350"), the controller is responsible for maintaining proper lateral (3 or 5 miles) and vertical (500, 1000, or 2000 feet) separation from other traffic. But traffic cleared on a visual approach does not have that restriction. Visual approaches are an important part of maintaining the high flow rates that Class B airports (SFO, ORD, etc.) want.
This comment's gotten pretty long, so I'll post another one with another possibility as to what may have happened! I'll leave you with the FlightAware radar trail, where (if you zoom in on SFO) you can see the go-around taking place.
[1]: https://www.vatsim.net [2]: http://zidartcc.org [3]: https://flightaware.com/live/flight/ACA759/history/20170708/...