We will be staying in Fresno, and visiting Yosemite for one day (June 24th) before heading to San Francisco. What's the best route into Yosemite and how early should we plan to get there? We are willing to get up early to make the most of our day. We love to hike (moderate trails) and would love to visit lesser known areas of the park. Hoping to get views of some of the parks more famous icons from afar. I know it will be busy so just wanting to avoid some of the huge crowds.