Pilot reported receiving a terrain warning inbound to SFO. Other pilots reported the same issue to reporter.

Narrative

SFO was using RNAV GPS 10L approach. Sky conditions were clear; night VMC. The First Officer was flying and was on the VNAV path profile before the FAF. Crossing the FAF on profile at approximately 1;800 ft. AFE; we got a Terrain; Terrain warning. There was a moment of surprise as we processed what the warning was. The warning went off twice and then ended by the time we realized exactly which warning was occurring. I noticed the RA indicated 940 ft. The approach remained stable; fully configured and on speed by 1;000 ft. and on VNAV profile. Talking with other crews after landing; they got the same warning. The closure rate on the VNAV profile with the rapid terrain change at the FAF is what we believe caused the warning. There is no mention of this in the airport 10-7 pages. We should have gone around by the flight manual guidance but by the time we understood the warning; the warning ceased.Note: It is impossible to comply with standard ATC speed of 180kts to the FAF and be fully configured which may have prevented the warning.