We certainly wouldn't stay in Bridgeport and drive all the way to Yosemite every day. It's a long, slow drive. If you want to do that at least stay in Lee Vining.
As far as getting over to 101 from 395, we always take Hwy 50 into Sacramento. You could then take I-5 north to Hwy 20 at Williams and over to 101. It's a gorgeous RV-friendly drive all the way up into Oregon/Washington. If you wanted to 'do' San Francisco, take 50 to I-80 to Vallejo area and pick up Hwy 37 into Novato and head north on 101. Places to stay: Vlllejo, Napa Valley Expo, Novato, Petaluma, Santa Rosa. Drive to the Larkspur ferry at San Rafael and take the ferry to Fisherman's Wharf and pre-arrange for a small van tour of the city. Then you don't have to drive in the city. It's a great tour:
San Francisco Small Van Tour