I have dry-camped in Yosemite and being close to shuttles and the attractions are a real plus if you can handle dry camping. All of the roads into the park are long and mostly curvy, so you may not want to keep driving back and forth, even with a car. Also, there may be long lines to get into the park, especially during the summer and weekends, so that adds to the hassle. I looked up the Yosemite Pines RV park and it is 45 miles away from the main Yosemite Village area and Google says that is almost a two-hour drive. If you want to spend only one day at Yosemite, that might work, but you will have to leave early and will make it back after dark.
I had no problems driving through the campgrounds last time, but I do not tow, so that helps. Once you are inside, you can take shuttles everywhere.
I have reservations in October for four days in North Pines and am looking forward to it, but I am alone in my 32' motorhome.