When we visited Yosemite we could not find lodging inside the park so we stayed just outside at the Tenaya Lodge. It is a 4 star AAA and was very comfortable and had a pool. There was also a company that ran a tour into the park so that we did not have to drive. We had time for lunch at the Awanhee too. It might not be the same as staying inside the park, but the bathrooms outweigh the tents anyday in my opinion.

We love the Mission Ranch Inn in Carmel. Ask for a suite with a balcony and a rocking chair overlooking the meadows and the ocean. They have a pretty hopping bar too and a good restaurant.

In Cambria make sure that you get a place on Moonstone Beach. There are a lot of them just across the street from the ocean. To name a few: The Pelican Suites, The Fog Catcher, The Sand Pebbles Inn, Sea Otter Inn etc. Two nights would be enough. I know you have a lot of English Castles, but Hearst castle really is unique.
Have a great time!