There is only one CG on the valley floor that can take semi large RV's so that will limit your options. We just stayed in North Pines for 10 days or so and used that as a base station. That valley location is the center of most of the activity in the park. Travel to Toulumne Meadows and other locations in the park will require a lot of driving. Yosemite is a BIG park, if you haven't been to any of these large parks out west you are in for a surprise. There are private shuttles to a few areas (Glacier Point) outside the valley that you catch at the hotel. They aren't cheap and they are often booked up.
There are some short paved trails, Yosemite Falls that you may be able to deal with. If so they aren't to be missed. The Sequoia Groves require some fair amount of walking. Glacier Point requires little walking. YoNP is not a park with a lot of places that you can just drive to. So plan on that. The park website probably has more info on that.