You'll need to route around the south end of the sierra nevada.
I suggest 395 South to 178 West to 99 North to 140
There are other routes but I like the scenery along 178.
Depending on how much time you want to spend on smaller roads you could take 178 to 155 to 99.
Another alternative, for a little less time on the freeway in the San Joaquin Valley and more Sierra Nevada scenery: Follow MKCal's directions to Hwy 99, and at Fresno, take State Route 41 north. You'll enter the park from the south (Wawona) entrance, and after your visit you can exit to the west by 140 or 120, depending on your next destination.
Thank you both very much for your advice.
Highway 190 west to US395 and south via the route you were given. If you are travelling from the south, definately take 41 north from Fresno! It will put you into Yosemite very near the Mariposa Grove of Giant Sequoias.
Your only other option over the Sierras from Death Valley might be Sonora Pass to the north, but there could be weather considerations if there is a late season storm.
Be sure to visit Artist's Palette while in DV. And, if there is an opportunity to view sunrise from Zabriske Point ... do it. I was there a month ago and those were the highlights of the trip. My daughters even hiked around Artists Palette.
If you have time for a side trip, I recommend driving through Kings Canyon/Sequoia. The only alteration you would need from the route to Yosemite would be to go east at Visalia, California. HWY 180 goes through the parks and out to Fresno.
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