We have stayed at the Mariposa KOA when going to Yosemite. It is about an hour drive to the park from there. We just got up early each day and drove in and parked in the big lot by the village to hang out during the day. Bring bikes with locks, its the best way to see the valley.
In Marina, by Pebble Beach, there is an RV park for big rigs. It is Marina Dunes RV Park. I haven't stayed there, we live close, but we did a driver through one day and it looks nice. Website is:
Marina Dunes RV ParkIf you have a toad, make sure to drive down the coast to Big Sur. It is worth the day!
Enjoy your trip!
