Why is Uber paying this? The concept is that you book a ride with no involvement from SFO, and then the car shows up wherever you happen to be, looking exactly the same as every other car.
It doesn't appear that SFO would have any way to collect their rideshare fees except for honor-system voluntary payment.
SFO’s involvement is that they own or lease the roads and parking lots where the pickups happen, and so have the right to set conditions on their use.
Parking enforcement isn’t automatic at parking lots without barriers either, but that doesn’t mean paying a parking fee to the operator is a “voluntary payment” just because you might not get a ticket if you do skip payment.
As for how they could enforce it, it’s pretty easy to walk around outside the airport and spot the cars with Uber/Lyft decals, or multiple phones, or use ANPR to identify frequent visitors, or just ask passengers as they get into cars. Multiple options for enforcement.
The enforcement might end up targeting the drivers rather than Uber itself, but it would have the same effect.
For arrivals, SFO has signs that direct passengers to a designated rideshare pickup area, and the rideshare apps direct passengers to a designated stall.
It would be possible to monitor how many cars are picking up passengers there with cameras, because non-rideshare cars would not pick up people there. It would also be possible for an auditor to spot-check with the Uber app and see if they get charged the fee or not, and whether the app directs them to the rideshare pick up area. From there it’s easy to see if a company is circumventing the surcharge.
As others have commented, it would be relatively simple for airports to deploy ANPR[0] to detect cars picking up passengers at the curb more frequently than an average person would be expected to, at which point they have the usual trespassing remedies at their disposal.
First, Uber is not paying this, you the rider pay it.
Second, one of the major (valid) complaints has always been that Uber's "disruption" is really just skipping the things other providers are required to do: fleet maintenance, insurance, licensing, taxation, and more. Uber's well past the "break shit and move fast stage", now that they're the dominant player it's in their best interest to pull in regulation barriers and promote any form of moat. They should lobby for HIGHER taxes and fees, pass those on to customers and push for aggressive enforcement - that would be easier than competing with the next startup.
It doesn't appear that SFO would have any way to collect their rideshare fees except for honor-system voluntary payment.