Parking at 37.643220,-122.488838 (map). There's a parking lot at the south end of Connemara Dr.
Park web page: https://www.nps.gov/goga/miri.htm
HikingProject page: https://www.hikingproject.com/trail/7007447/milagra-battery-trail

Route: 3.3 miles, 1.5 hrs

🐕 The trail is dog friendly (leash required), so feel free to bring your dog.