Yousemite without a reservation?
I don't recall seeing anyone bringing bikes on the shuttle busses. They are sometimes pretty full, standing room only, and it might be difficult. However, there are bike paths all throughout The Valley, which is relatively flat. It's not that strenuous to bike wherever you want to go, so bikes are a good alternative to riding the shuttle busses. Plus you can get to places on bikes that the shuttle busses don't go, like Bridle Vail Falls. Just bring locks and chains to secure your bikes when you're away from them.
Yosemite Lakes RV Park is a great place to stay. One night we were planning to stay near Lee Vining, but we heard that the Park would close that night due to a storm. We didn't know how long the storm would last, and didn't want to be stuck on the East side, so we headed up Tioga Pass in the gathering dusk and storm. We were the last vehicle they allowed in before closing the pass. We rolled through Tuolumne Meadows with the snow coming down, but not really sticking to the road yet, and were glad when we got a little lower down and the snow turned to rain. All the Park campgrounds we passed were full, so we rolled right on through the Park, and the first campground we came to outside the park was Yosemite Lakes, about 8 PM. I was very tired, as we had been rolling since Caliente, NV, that morning, and I was so happy to get a spot at Yosemite Lakes. It is located in a small valley far enough away from Hwy 120 that it is very quiet and secluded. The management was very nice. If it were me, I would stay there for my whole trip to Yosemite and just drive in during the day.
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