All visitors must pay a park entrance fee of $35 per vehicle (as of 2021). Otherwise, the fee is $10 for persons arriving on foot, bicycle, motorcycle, horseback on via non-commercial bus. To limit the number of visitors, Yosemite Park Services requires for all guests to have an advance reservations to enter between May 21 and Sep 30, 2021.
Yes, however, in the 2021 Summer Season, due to Covid-19, the Yosemite Shuttle is not operating. If you plan to visit, you must hike on foot (approx. 4mile round trip). In order to enter Yosemite National Park you must have an advance reservation, if you are visiting from May 21 until Sept 30, 2021.