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UPDATE Summer 2015: Currently the National Park Service is using a shuttle between Badger Pass parking lot and Glacier Point. INFO When you board the shuttle, ask the driver to drop you off at the Sentinel Dome trailhead. Use the Sentinel Dome trail to ascend Sentinel Dome, 1.1 miles. Then continue on the trail to Glacier Point, about 1.2 more miles. (See map linked above.) Take the free shuttle back to your car after your Glacier Point tourism.
Some folks like to combine the Sentinel Dome hike with the Taft Point/Fissures hike into a 4.9 mile loop, but just the Sentinel Dome hike is a must-do for many Yosemite National Park visitors.
Large tree on the side of the trail. Note that the trail is on a hillside for much of the way.