Originally Posted by
Eastbay1K
Go to Pleasanton. You'll be there in about 45 minutes once you're in the car. 101 South to the San Mateo Bridge (CA92 East). Over the bridge, 880N to 238 (a short connector) and then 580E. Easy peasy. It will also save you a lot of time the next morning. You will also likely save a lot of hotel $, not to mention easy in/out of the hotel.
I agree with
Eastbay1K -- Pleasanton/Dublin lodging, right off of I-580. There should be no traffic getting there from SFO in the wee hours, the lodging will be substantially cheaper compared to SFO area, and the OP will have avoided the am rush (that can be
really bad). The drive east to Yosemite (great idea, BTW), should be fine in the morning.