Sequoia, Kings Canyon & Yosemite from Bakersfield?

I saw something about 49 having 2 tunnels that we want to avoid, but I don't see them in the Truckers atlas or on the map. Where are they? If we stay in Coarsegold, is it reasonable to make a circle coming out at Groveland and then return to Oakhurst in one day (without the RV)?

We plan on seeing both Sequoia/Kings Canyon & Yosemite with an RV park near each. We know we are too late & too big for late reservations in the parks themselves. We also prefer full hookups and easy access. Thanks!