Yosemite

You'll be fine, we've been taking that route for 25 years, the last two years with our 40'.

As you exit the tunnel, there is some parking to right that is often open and you can parallel park along the curb. You can jump out and get probably the best picture of Yosemite, straight up the valley.

I would suggest that you disconnect the Jeep when you reach the valley floor in one of the meadows where there are some pull outs. Getting past some of the check in booths can be tough, especially the one at Upper Pines. You kind of have to move way over and then back as you pass.