Personally I find visitors much more of a Sausalito hassle than disgruntled poor, by several order of magnitude, but that's personal. You'd likely be more comfortable in communities other than Sausalito, San Rafael or Novato where there are poor.
Marin City effectively has two communities; the flatland neighborhood where many low income folk live and the hillside condos which are much more middle class though NOT bourgeoisie. Some feel that proximity to the poor means more crime so avoid all of Marin City.
If you've the resources you'll find, Belvedere, Tiburon and Ross much quieter and "secure". Your taste(s) may run toward the communities in the south of the Ross Valley? If proximity to "the city" is unimportant you may find the flavor you seek in West Marin.
Marin County has a myriad of communities each with its unique ambiance and character, a hat for every head. If I can be of assistance...... more