You can try the Yosemite Pines rv park in Groveland, CA. There is a steep grade to get into Groveland called Priest Grade. But it is do-able. The rv park is about 20 minutes to Yosemite entrance. There is Hetch Hetchy reservoir to visit. And the views are spectacular. To bet to the valley is about another 1/2 hr drive.
We normally stay at Yosemite Pines if we don't have reservations in Yosemite Valley. We've stayed there about 5 times and would stay there again. Also, I agree on the amount of time it takes to get to the Valley floor.
Mariposa Fair Grounds: http://www.mariposafair.com/camping.htm
Beautiful drive to and from Yosemite.
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I second the votes for Mono Vista in Lee Vining.
But it is a long drive into the valley floor.
If you are near Lee Vining, you could also check Lundy Lake area. I stayed there a long time ago, and it was nice.
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On Highway 140 the Mariposa KOA has full hookups and is about 45 minutes to the park.
We stayed there last summer for 4 nights...was really nice. There is a bus that stops right at the front of the KOA that takes you right into the park...and there are shuttles within the park that take you anywhere you want to go. I figured this saved me a fortune in vehicle park pass, and gas going back and forth, and the hour ride home was a good rest after a day of hiking in the park.
The KOA has normal amenities including a really nice pool.
If you are an Elks Lodge member the Oakhurst lodge has a RV park 2 mi. N of Oakhurst. It hhas E&W no dump we stayed there last year for $15 day. A lot of Ca., Az. and Nm. lodges have Rv parking. usually donation - $15.
Now, if you are trying to go for a weekend, well it's tough. You need to get there tues or wed to find a site. However, if you are flexable, if you arrive on Sunday morning you will get a pick of sites as 80-90% are checking out that morning.
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