Questions about roads in Yosemite

It's been a couple of years since we took a long road trip with our MPG183 but we're planning one in October. Yosemite is a main stop for a first time visit. Hoping someone can tell us a little about the entrance road on the west side, coming in from the Reno area. We hope to camp in the valley so would have to cross what looks like some mountainous terrain to get there. Wondering if there are steep grades to navigate. We're experienced in driving mountain highways, but do want to be prepared for the extra load going up steep inclines and the wear on brakes going down. We once had a case of serious smoking brakes going down a long steep grade and don't want a repeat!

And if you have any other tips about Yosemite, feel free to toss those in too!