Hi there; have been to Yosemite many times and camped in the valley with the masses. You will be able to find parking if you go early. There are 2 large parking areas where you can park and then ride the free shuttle to most areas in the park. From the parking lot near the village, you can walk to many areas as well. I would do that over YARTS so you can stay as long as you want and not be on a schedule. There will be a line of cars to get into the park; I would get to the entrance as early as 7am, get your parking spot, make breakfast in the RV and then explore. Tip for casual dinner before heading back out: pizza and beer at what used to be Curry Village (half dome village now?)