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Yosemite hiking with dogs?

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I understand a lot of the park is off limits to dogs, but I was wondering if anybody knows of trails that are open to dogs that would be good for a day hike? We are in Sacramento, so it's about 3.5 hours to Yosemite, coming in on 120 (Big Oak Flat entrance). There are some pet friendly places on 120, so I'm imagining driving to Yosemite in the morning, doing a hike, crashing at a nearby hotel and driving back the next day. Suggestions?

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