Earlier quoted context omitted.
None of those places are, in practice, 5-10 minutes from a place you want to be. You can see that in the BART schedules: http://www.bart.gov/schedules/bylineresults.aspx?route=7&... And that doesn't include walking or waiting time. Driving might seem like a plausible option, but that's generally worse. Oakland City Center to Embarcadero is 25 minutes by car, not counting parking. Daly City to the Mission is 20 min…
May I ask where you are getting the driving numbers? I live/work in soma and as long as I avoid commute traffic, Daly City really is only ~10 minutes away. A coworker lives in Brisbane and his commute averages 11 minutes. I frequently visit parts of Oakland far further from City Center (say Mills College area), and it is just under 20 minutes. If you lack a car, well, the numbers look terrible as well in San Francisc…
The "as long as I don't drive when most people want to drive" thing is nice if that works for you, but it's definitely not the common case. Most people have to commute when most people have to commute.