To Prepare, a few months ago we entered a lottery to get half dome permits. But because Grace is coming, she won't have a permit... TBD if she can even climb the cables with us. Going into Yosemite, we have a similar plan as we did in Zion... it is HIGHLY unlikely that we can get a site in the Valley, let alone the park.
We did a little grocery shopping before driving up the windy roads.. Pre cooked all of our meat.
Update: We are in the car on the way up. I called the ranger office. There is some availability in the park, but its about an hour away from the valley.