Paso Robles to Yosemite to Utah

Okay. We went. We drove. We lived to tell about it. But man, oh, man, there was a lot of butt cheek clenching. We took 140 and camped in Mariposa and drove the Jeep in. It was MAGNIFICENT! I am so glad we went. We took the Jeep one day and did the 49er gold trail, up through Columbia. Great trip. Lots of fun. REALLY glad we didn't take the rig on that road! We then took the 99 north to the 5 to the 80 to the 267 heading toward Lake Tahoe and that's where the fun began. The GPS took us down into No. Lake Tahoe on Highway 28 (I use the word highway loosely) on a Saturday the last weekend of the music festival on one lane each way all around the lake, up and down, with cars parked where they shouldn't have been, and people not looking and walking out in front of us. GEEZ!!! I really feel like after doing Yosemite, and then into Carson City (where we are right now) I should be used to this, but now I'm planning up to the great Salt Lake and then into Yellowstone/Grand Tetons. Any great advice on the easiest way to go. Should we camp outside Yellowstone and drive in in the Jeep? We are 40ft, with the Jeep. Should I be scared? I'm thinking Bozeman and entering in the north, and exiting the east. What say all you experienced folks?