Long drive to YNP with Extranomical tour, cant recall driver/guide name...he likes to keep his microphone on all time, so you can hear his yawning etc. Time at the attractions are sufficient, some may feel rush.
A great day trip to manage to get to Yosemite, see the Sequoias and stop for photos with the bridge. Had enough time to wander to not feel rushed - excellent organisation of the day, given the distances involved.