no there are not any RV parks inside the park.
The campgrounds inside the park are geared towards tent campers. Yosemite RV Resort is approximately 25 miles down scenic HWY 41. The RV Sites are full hookup with great amenities!!
In the Yosemite RV Park in Coarsegold there is plenty of spots to park your RV & camp.
I don't remember seeing any campground inside the park that would accommodate RVs
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