Once you arrive, though, you’ll be able to go camping or stay in one of the many hotels in and around the national park. This will give you a lot of time to explore, take in the scenery, and see different parts of the park before driving back home again.
If you’d prefer, you could also leave early in the morning to get to Yosemite, spend most of the day exploring, and then drive home again. Just make sure that you’re prepared for the trip back and not too tired to focus on the road!