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Yosemite - rent an RV or stay at the Lodge

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We are planning a family vacation this August (boys ages 9 and 11). We are going to be in SF for a couple of days and then head to Yosemite for 3 nights and then enjoy the coast for three more days. We already have reservations at the Lodge in Yosemite. My husband and I have always wanted to take the kids on an RV trip and think this might be a good idea. We could rent an RV from Cruise America outside San Fran and return it four nights later outside of Carmel.
Should we experience Yosemite in an RV?? Does anyone have any feedback on Cruise America??
Or should we stick with the Lodge and do the RV thing another time/place?
Thank you for your advice!

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