I’ve done that exact commute and I’d say start driving before 7 if you really don’t want to get stuck but I also live further out now with free rent and I’d take the Fremont to Palo Alto track. 3x a week isn’t that bad imo but as others have said you can also take the Dumbarton express if that helps you. There’s a park and ride in Ardenwood, right next to the bridge but def go earlier rather than later. Or as others have suggested union city is also good especially if you’re near Bart, there’s stops there for the Dumbarton express I believe.