We usually stay within the park at Trailer Village, it's the only campground within the park with full hookups. You will want at least power to run your a/c just in case the heat comes in.
Once you are in the park there is a free shuttle from the campground to all the vista views and town. So no more driving if you don't want to deal with parking.
Trailer Village is not the most beautiful but functional. They have restrooms but not showers. You have to go to Mather for showers which is a dry camping campground. If you stay at Trailer Village ask for an end spot since they are all pull thru spots this way you only have one person on one side.
Here is some info on the campgrounds.