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How to visit Yosemite from Angels Camp

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We are from the midwest and have never been to this area before and would like to take at least a long day to try to do Yosemite, but it's hard trying to figure it out. We'll be there at the end of July--the heat won't bother us--we're used to it.
I think it's about a 3 hour drive from Angels Camp to the park. I have considered getting a room in the park for a night and the best I can do is Wawona without a bath. (We're campers so we can handle it.)

I'm wondering about the "tours" that are offered in the park. I see on the website that they have little trams that take you around which looks perfect for what we want to do. I know there will be crowds and we would try to get reservations up to a week in advance which is what they suggest.

Is it do-able to drive there, catch a tram tour etc for the day and drive back? We are good travelers and can handle long days, or do we really need to spend a night there?

Thanks Ruth

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