Dublin/Pleasanton Parking in afternoon

Although this forum may seem dead, perhaps someone can enlighten me about the prospect of making a one-time trip from Dublin/Pleasanton to SFO. I would need to secure handicap parking sometime around 3:00 to 3:30 PM and return back later that evening around 8:00 PM. The handicap is not severe but involves limited walking. Just wondering if things start to clear out by that time in the afternoon. Anyone?