yes, we did it a year and a half ago (I think it was). It's a lovely trip, and, yes, you can make it up to the drawbridge. I forget the number you're supposed to call to get the operator to open the bridge, and I think they say they want you to call an hour or two in advance, but my memory is that even that wasn't necessary. We returned on a Sunday and arranged for the operator to open the bridge the previous day. The river channel is pretty clearly marked. We had to motor all the way up but were able to sail much of the way back as we had the wind going our way. The hardest part was actually following the channel in the bay going into the river, but even that wasn't bad.

The Petaluma bridgetender's phone number is in the Tide & Current tables. He's very cooperative.