GTA V Walkthrough - Father / Son

Father/Son is a mission in Grand Theft Auto V that protagonist Michael De Santa performs with the assistance of fellow protagonist Franklin Clinton.
This mission can be started as either Michael or Franklin. If the player chooses to start the mission as Michael, a cutscene at Michael's mansion shows Amanda and Tracey arguing over whether Tracey can have a male friend stay the night. Michael retreats out to the pool with a drink and listens to music, only to be interrupted by Franklin. If the player chooses to start the mission as Franklin, the mission begins with Franklin approaching Michael at the pool.
Franklin and Michael talk. Franklin is interested in learning from Michael's criminal experience, but Michael claims that he's retired and encourages Franklin to go to college so he can "rip off people and get paid to do it." Still, Michael takes an interest in Franklin and offers to buy him a beer at a nearby bar that Michael likes. The two head for Amanda's Sentinel to drive there, but are interrupted when Michael gets a call from his son, Jimmy, who informs Michael that he tried to sell Michael's yacht, without his father's permission. The buyers stole the boat instead, leaving Jimmy to cower and hide in the boat's head (bathroom) as the thieves drive it on a trailer down the Great Ocean Highway.
Michael takes the wheel of the Sentinel and heads to Pacific Bluffs. Along the way, Michael states that while he's retired, if Franklin sufficiently impresses him on this outing, Michael might teach Franklin a thing or two. They reach the Great Ocean Highway and they spot Michael's yacht flying by, pulled by a Phantom. The two give chase as the thieves follow the Del Perro Freeway.
Upon arriving the first checkpoint, where the truck is seen, the entire sequence of traffic is scripted, and all ambient traffic is disabled:
To save Jimmy, Franklin climbs onto the car's hood, jumps onto the yacht, and deals with the goons on the stern before retrieving Michael's son. However, Jimmy gets hit by the boat's boom when it swings outward and ends up dangling over the freeway while clinging to the boom for dear life. Michael pulls up close enough in time for Jimmy to drop into the back of the Sentinel. Michael then gets near enough to the rear of the yacht so that Franklin can jump safely onto the hood.
With Franklin back in the car Michael wants to continue pursuing the thieves, but the engine of the Sentinel begins to break down, due to a goon having shot it earlier while grappling with Franklin. Left unable to keep up the pursuit, the goons get away, leaving Michael crestfallen. On Franklin's recommendation, the three drive to the nearby Los Santos Customs where Hao works, and Michael has Franklin call him a taxi to meet them there; over Jimmy's protest, he asks Franklin to take care of the Sentinel and get Jimmy home so Michael can have some alone time to "headbutt the road in peace." Michael gives Franklin the cash he has on him for the repairs and takes the cab home while Franklin and Jimmy get the Sentinel fixed. Following that, Franklin drives Jimmy home and the two agree to hang out sometime.