Bringing dog to Yosemite with the family/where to go?

We have air conditioning in our camper and the tv is always left on when we go anywhere. The campsite said as long as we don't go too far away. Then we can leave the dog in the camper. We normally take the dog with us on vacation as he really is very good. But he is a barker when it comes to things on wheels. I have a stroller that I put him in and he never barks when moving so we will be doing alot of walking to keep him quiet. Thanks for the tips!