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Previous poster is correct about I-580 being one of the worst roads in California during pm rush hour. It ranks with LA's worst at times as well as being dull scenically. Best avoided.That's why I would suggest leaving midday/early afternoon, drive down the peninsula on I-280 > CA-85> US-101 and make a stop at Mission San Juan Bautista on way to Mariposa.

http://en.wikipedia.org/wiki/Mission_San_Juan_Bautista

It's a tiny and very charming mission town, dating from the very founding of California, and about half way to Mariposa. Makes a great stop off point. If you leave SF just after lunch and go this route you'll hit very little traffic and still be in Mariposa before dusk. Plus it's a much prettier drive than 580/120: down the SF peninsula, past San Luis reservoir and across the Pacheco pass and across the central valley to the foothills of the Sierras.

Save the 120/580 route for your return when you're knackered. It's a dull drive by comparison and you'll be going against the rush-hour on your return.

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...In case you are not familiar with the Golden State, just beware that what you call a town and what we call a town could be different. Mariposa is certainly a "town": it is the largest town in, and county seat of, Mariposa county ( which is larger than Kent) but I'd be surprised if it's population of the whole town is much more than a thousand souls. You can stroll from one end of town to the other in less than two minutes. If you get there late evening, be prepared to go hungry - and let your innkeeper know too, so they can leave a key for you.

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They're staying in Mariposa. 120 is a significant detour except perhaps on the way back, which I suggested above.

580 to 5 to 140 is fine unless they want to take Pacheco Pass and then county roads. Driving on 101 on a late Thursday afternoon is no picnic.

BTW Google maps has traffic info on it.

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Why would we want to recommend the most boring stretch of asphalt in the whole dang state to someone who is here on vacation and, one would hope, wants to get more from her vacation than reading the license plate of the car in front.???

Ultimately it's up to the young lady who enquired. If she wants to take the ugly but shortest route, go 580. It may or may not be the fastest (and won't be if rush hour is involved.) If she wants to take the more scenic route and discover some California history along the way then she can go 280>85 etc. Difference in driving time (excluding stops) ain't that great. Ultimately it's her call.

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The post is about going to Yosemite in a single day; this is roughly 9 hours of driving by the most efficient stretch, with a goal of maximizing time in the park.

As she has indicated, they are spending a night in Mariposa, and driving in both directions at night.

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It's good to hear different perspectives, especially from people who know the area so well. We were hoping to leave in the evening simply because we have so little time in San Francisco and I've heard it's an amazing city. I'm hoping to see as much of it as possible and squeeze in the Yosemite trip too. Nothing is set in stone though, so all of these suggestions are helpful.

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P.S. If anyone is coming up to Canada, I'd love to return to the favour and give you some travel advice for visiting MY backyard! :)