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Greetings,
My wife and I stayed for a week at Yosemite Pines RV Park, which is 30 minutes west of the park entrance on HW120. It's a very nice CG and easily handled our 40' MH. I recommend site# C59 if you can get it. Regarding what there is to do, I suggest trying to take your trips into the park on weekdays because it is extremely busy this year due to the high water flows. It's $20 to get in but is good for a week. While in the park, you really should spend at least a half day at the Mariposa Grove on HW41. The giant sequoia groves are amazing.
Another great 1/2 day is the Hetch Hetchy dam and reservior, which is about 3 miles short of the park entrance. There is a nice easy hike to the waterfalls behind the dam. A side trip to the little town of Columbia is fun if you like the old gold town kind of thing. We tried Jamestown in June, but it was much smaller and we didn't like it as much.
Good luck, hope you have a great time!
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