This study investigates first- and last-mile connectivity to existing segments of the San Francisco Bay Trail (SFBT) in historically underserved Bay Area communities, with a detailed case study in Richmond, California. Although 70 percent of the 350-mile trail network is complete, physical barriers, freeways, freight rail lines, industrial zones, and insufficient pedestrian and bicycle infrastructure prevent low-income and minority neighborhoods from accessing the trail safely and directly. Employing a mixed-methods framework, a comprehensive literature review was first conducted to synthesize evidence on greenway benefits and equity frameworks. A regional GIS analysis was then performed to identify spatial disconnects between trail alignments and MTC Equity Priority Communities and BCDC Communities of Concern. Stakeholder interviews and community feedback from the MTC’s Bay Trail Equity Strategy Initiative were also synthesized. Six connector corridors in Richmond were subsequently selected for standardized field audits, which scored sidewalk continuity, bicycle facilities, crossing conditions, signage, lighting, and land-use context at both segment and intersection scales.Findings reveal pervasive “hostile edge” conditions, high-speed traffic without buffers, missing or narrow sidewalks, under-designed crossings, blank industrial frontages, fragmented bike lanes, and absent wayfinding, that disproportionately impact low-resource areas. Based on these insights, a phased toolkit of interventions was developed, spanning immediate low-cost measures, mid-term infrastructure upgrades, and long-term investments, to guide agencies in advancing equitable trail access across the Bay Area.